Michele Focchi

IIT Publications

• 2019
• Focchi M.^iit, Orsolino R.^iit, Camurri M., Barasuol V.^iit, Mastalli C., Caldwell D.^iit, Semini C.^iit

  Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality

  Springer Tracts in Advanced Robotics, Publisher: Springer
• Fahmi S., Mastalli C., Focchi M.^iit, Semini C.
  DOI

  Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain

  IEEE Robotics and Automation Letters, vol. 4, (no. 3), pp. 2553 - 2560
• 2018
• Orsolino R.^iit, Focchi M.^iit, Mastalli C.^iit, Dai H., Caldwell D. G.^iit, Semini C.^iit
  DOI

  Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots

  IEEE Robotics and Automation Letters, vol. 3, (no. 4), pp. 3363 - 3370
• Focchi M.^iit, Orsolino R.^iit, Camurri M., Barasuol V.^iit, Mastalli C., Caldwell Darwin G.^iit, Semini C.^iit

  Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality

  Springer Tracts in Advanced Robotics, Publisher: Springer
• 2017
• Orsolino R.^iit, Focchi M.^iit, Caldwell D. G.^iit, Semini C.^iit
  DOI

  A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding

  International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
• Semini C.^iit, Barasuol V.^iit, Goldsmith J.^iit, Frigerio M.^iit, Focchi M.^iit, Gao Y.^iit, Caldwell D.G.^iit
  DOI

  Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max

  IEEE/ASME Transactions on Mechatronics, vol. 22, (no. 2), pp. 635-646
• Nobili S., Camurri M.^iit, Barasuol V.^iit, Focchi M.^iit, Caldwell D.G.^iit, Semini C.^iit, Fallon M.

  Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots

  Robotics: Science and Systems, vol. 13
• Focchi M.^iit, del Prete A., Havoutis I., Featherstone R.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  High-slope terrain locomotion for torque-controlled quadruped robots

  Autonomous Robots, vol. 41, (no. 1), pp. 259-272
• Tournois G.^iit, Focchi M.^iit, Del Prete A., Orsolino R.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Online payload identification for quadruped robots

  IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, pp. 4889-4896
• Aceituno-Cabezas B., Mastalli C.^iit, Dai H., Focchi M.^iit, Radulescu A.^iit, Caldwell D. G.^iit, Cappelletto J., Grieco J. C., Fernandez-Lopez G., Semini C.^iit
  DOI

  Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization

  IEEE Robotics and Automation Letters, vol. 3, (no. 3), pp. 2531 - 2538
• Mastalli C.^iit, Focchi M.^iit, Havoutis I., Radulescu A.^iit, Calinon S., Buchli J., Caldwell D.G.^iit, Semini C.^iit
  DOI

  Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion

  Proceedings - IEEE International Conference on Robotics and Automation, pp. 1096-1103
• Mastalli C., Focchi M.^iit, Havoutis I., Radulescu A.^iit, Calinon S., Buchli J., Caldwell D.^iit, Semini C.

  Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion

  IEEE International Conference on Robotics and Automation - 1989
• Frigerio M.^iit, Barasuol V.^iit, Focchi M.^iit, Caldwell D. G.^iit, Semini C.^iit
  DOI

  Validation of Computer Simulations of the HyQ Robot

  International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
• Focchi M.^iit, Featherstone R.^iit, Orsolino R.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Viscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain

  IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, pp. 5353-5360
• 2016
• Kuwahara H., Terai F., Focchi M.^iit, Medrano-Cerda G.A.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  A design method of a robust controller for hydraulic actuation with disturbance observers

  2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016, pp. 289-296
• Mastalli C.^iit, Havoutis I., Focchi M.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Hierarchical planning of dynamic movements without scheduled contact sequences

  Proceedings - IEEE International Conference on Robotics and Automation, vol. 2016-June, pp. 4636-4641
• Focchi M.^iit, Medrano-Cerda G.A.^iit, Boaventura T., Frigerio M.^iit, Semini C.^iit, Buchli J., Caldwell D.G.^iit
  DOI

  Robot impedance control and passivity analysis with inner torque and velocity feedback loops

  Control Theory and Technology, vol. 14, (no. 2), pp. 97-112
• Rehman B.U.^iit, Focchi M.^iit, Lee J.^iit, Dallali H.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Towards a multi-legged mobile manipulator

  Proceedings - IEEE International Conference on Robotics and Automation, vol. 2016-June, pp. 3618-3624
• 2015
• Rehman B.U.^iit, Focchi M.^iit, Frigerio M.^iit, Goldsmith J.^iit, Caldwell D.G.^iit, Semini C.^iit

  Design of a hydraulically actuated arm for a quadruped robot

  Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, pp. 283-290
• Semini C.^iit, Goldsmith J.^iit, Ur Rehman B.^iit, Frigerio M.^iit, Barasuol V.^iit, Focchi M.^iit, Caldwell D. G.^iit

  Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur

  14th Scandinavian International Conference on Fluid Power
• Dallali H.^iit, Medrano-Cerda G.A.^iit, Focchi M.^iit, Boaventura T., Frigerio M.^iit, Semini C.^iit, Buchli J., Caldwell D.G.^iit
  DOI

  On the use of positive feedback for improved torque control

  Control Theory and Technology, vol. 13, (no. 3), pp. 266-285
• Winkler A.W.^iit, Mastalli C.^iit, Havoutis I.^iit, Focchi M.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain

  Proceedings - IEEE International Conference on Robotics and Automation, vol. 2015-June, (no. June), pp. 5148-5154
• Focchi M.^iit, Barasuol V.^iit, Frigerio M.^iit, Caldwell D. G.^iit, Semini C.^iit
  DOI

  Slip Detection and Recovery for Quadruped Robots

  International Symposium on Robotics Research
• Semini C.^iit, Barasuol V.^iit, Boaventura T., Frigerio M.^iit, Focchi M.^iit, Caldwell D.G.^iit, Buchli J.
  DOI

  Towards versatile legged robots through active impedance control

  International Journal of Robotics Research, vol. 34, (no. 7), pp. 1003-1020
• 2014
• Kostamo E., Focchi M.^iit, Guglielmino E.^iit, Kostamo J., Semini C.^iit, Buchli J., Pietola M., Caldwell D.^iit
  DOI

  Magnetorheologically damped compliant foot for legged robotic application

  Journal of Mechanical Design - Transactions of the ASME, vol. 136, (no. 2)
• Winkler A.^iit, Havoutis I.^iit, Bazeille S.^iit, Ortiz J.^iit, Focchi M.^iit, Dillmann R.^iit, Caldwell D.^iit, Semini C.^iit
  DOI

  Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots

  Proceedings - IEEE International Conference on Robotics and Automation, pp. 6476-6482
• Bazeille S.^iit, Barasuol V.^iit, Focchi M.^iit, Havoutis I.^iit, Frigerio M.^iit, Buchli J., Caldwell D.G.^iit, Semini C.^iit
  DOI

  Quadruped robot trotting over irregular terrain assisted by stereo-vision

  Intelligent Service Robotics, vol. 7, (no. 2), pp. 67-77
• 2013
• Focchi M.^iit, Barasuol V., Havoutis I.^iit, Buchli J., Semini C.^iit, Caldwell D.G.^iit
  DOI

  Local reflex generation for obstacle negotiation in quadrupedal locomotion

  Nature-Inspired Mobile Robotics, pp. 443-450, Publisher: World Scientific Publishing Co.
• Bazeille S.^iit, Barasuol V., Focchi M.^iit, Havoutis I.^iit, Frigerio M.^iit, Buchli J., Semini C.^iit, Caldwell D.G.^iit
  DOI

  Vision enhanced reactive locomotion control for trotting on rough terrain

  IEEE Conference on Technologies for Practical Robot Applications, TePRA
• 2012
• Semini C.^iit, Khan H.^iit, Frigerio M.^iit, Boaventura T.^iit, Focchi M.^iit, Buchli J.^iit, Caldwell D.G.^iit

  Design and scaling of versatile quadruped robots

  Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012, pp. 273-280
• Boaventura T.^iit, Semini C.^iit, Buchli J.^iit, Frigerio M.^iit, Focchi M.^iit, Caldwell D.G.^iit
  DOI

  Dynamic torque control of a hydraulic quadruped robot

  Proceedings - IEEE International Conference on Robotics and Automation, pp. 1889-1894
• Boaventura T.^iit, Focchi M.^iit, Frigerio M.^iit, Buchli J.^iit, Semini C.^iit, Medrano-Cerda G.A.^iit, Caldwell D.G.^iit
  DOI

  On the role of load motion compensation in high-performance force control

  IEEE International Conference on Intelligent Robots and Systems, pp. 4066-4071
• Focchi M.^iit, Boaventura T.^iit, Semini C.^iit, Frigerio M.^iit, Buchli J.^iit, Caldwell D.G.^iit
  DOI

  Torque-control based compliant actuation of a quadruped robot

  International Workshop on Advanced Motion Control, AMC
• 2011
• Semini C.^iit, Tsagarakis N.G.^iit, Guglielmino E.^iit, Focchi M.^iit, Cannella F.^iit, Caldwell D.G.^iit
  DOI

  Design of HyQ -A hydraulically and electrically actuated quadruped robot

  Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, vol. 225, (no. 6), pp. 831-849
• Semini C.^iit, Buchli J.^iit, Frigerio M.^iit, Boaventura-Cunha T., Focchi M.^iit, Guglielmino E.^iit, Cannella F.^iit, Tsagarakis N. G.^iit, Caldwell D. G.^iit

  HyQ - a dynamic locomotion research platform

  International Workshop on Bio-Inspired Robots
• Focchi M.^iit, Persico G., Guglielmino E.^iit, Caldwell D.^iit
  DOI

  Novel concept for an air-pressure driven micro-turbine for power generation

  Proceedings of the ASME Turbo Expo, vol. 3, pp. 811-822
• 2010
• Focchi M.^iit, Guglielmino E.^iit, Semini C.^iit, Boaventura T.^iit, Yang Y.^iit, Caldwell D.G.^iit
  DOI

  Control of a hydraulically-actuated quadruped robot leg

  Proceedings - IEEE International Conference on Robotics and Automation, pp. 4182-4188
• Focchi M.^iit, Guglielmino E.^iit, Semini C.^iit, Parmiggiani A.^iit, Tsagarakis N.^iit, Vanderborght B.^iit, Caldwell D.G.^iit
  DOI

  Water/air performance analysis of a fluidic muscle

  IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 2194-2199