Victor Barasuol

IIT Publications

• 2020
• Orsolino R., Focchi M.^iit, Caron S., Raiola G., Barasuol V.^iit, Semini C.

  Feasible Region: an Actuation-Aware Extension of the Support Region

  IEEE Transactions on Robotics and Automation
• Gonzalez C., Barasuol V.^iit, Frigerio M., Featherstone R.^iit, Caldwell D. G.^iit, Semini C.

  Line Walking and Balancing for Legged Robots with Point Feet

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• Villarreal O.^iit, Barasuol V.^iit, Wensing P., Caldwell D.^iit, Semini C.^iit

  MPC-Based Controller with Terrain Insight for Dynamic Legged Locomotion

  IEEE International Conference on Robotics and Automation 2020 (ICRA)
• Bratta A.^iit, Orsolino R., Focchi M., Barasuol V.^iit, Muscolo G.G., Semini C.^iit

  On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics

  2020 International Conference on Robotics and Automation (ICRA)
• Esteban D.^iit, Villarreal O., Fahmi S., Semini C.^iit, Barasuol V.^iit

  On the Influence of Body Velocity in Foothold Adaptation for Dynamic Legged Locomotion via CNNs

  International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR)
• Fahmi S.^iit, Focchi M., Radulescu A., Fink G., Barasuol V.^iit, Semini C.^iit

  Soft Terrain Adaptation for HyQ

  Dynamic Walking
• Urbain G., Barasuol V.^iit, Semini C.^iit, Dambre J., wyffels F.

  Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot

  IEEE International Conference on Robotics and Automation (ICRA)
• 2019
• Semini C.^iit, Barasuol V.^iit, Focchi M.^iit, Boelens C., Emara M.^iit, Casella S., Villarreal O., Orsolino R., Fink G.^iit, Fahmi S.^iit, Medrano-Cerda G., Caldwell D.G.^iit, Sangiah D., Lesniewski J., Fulton K., Donadon M., Baker M.

  Brief Introduction to the Quadruped Robot HyQReal

  Istituto di Robotica e Macchine Intelligenti ​3D
• Villarreal O., Barasuol V.^iit, Camurri M., Focchi M., Franceschi L., Pontil M.^iit, Caldwell D. G., Semini C.
  DOI

  Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks

  IEEE Robotics and Automation Letters, vol. 4, (no. 2), pp. 2140-2147
• Focchi M.^iit, Orsolino R.^iit, Camurri M., Barasuol V.^iit, Mastalli C., Caldwell D.^iit, Semini C.^iit
  DOI

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

  Springer Tracts in Advanced Robotics, Publisher: Springer
• Barasuol V.^iit, Fink G.^iit, Focchi M.^iit, Caldwell D. G.^iit, Semini C.^iit

  On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots

  The 22nd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines, pp. 8
• Fahmi S., Focchi M., Radulescu A., Fink G.^iit, Barasuol V.^iit, Semini C.

  STANCE: Locomotion Adaptation over Soft Terrain

  IEEE Transactions on Robotics
• Villarreal O.^iit, Barasuol V.^iit, Camurri M., Franceschi L., Semini C.^iit

  Visual Foothold Adaptations for Rough Terrain Locomotion Using CNNs

  IEEE International Conference on Robotics and Automation (ICRA)
• 2018
• Villarreal O.^iit, Barasuol V.^iit, Camurri M., Focchi M.^iit, Franceschi L., Pontil M.^iit, Caldwell D.G.^iit, Semini C.^iit

  Deep Convolutional Terrain Assessment for Visual Reactive Footstep Correction on Dynamic Legged Robots

  2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
• 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
• Barasuol V.^iit, Villarreal-Magaña O. A., Sangiah D., Frigerio M., Baker M., Morgan R., Medrano-Cerda G. A., Caldwell D. G., Semini C.
  DOI

  Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control

  Frontiers in Robotics and AI, vol. 5
• Gao Y.^iit, Barasuol V.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Kinematic design of a configurable terrain simulator platform for robotic legs

  2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, vol. 2018-January, pp. 167-172
• 2017
• Malzahn J.^iit, Barasuol V.^iit, Janschek K.
  DOI

  Actuator Modeling and Simulation

  Humanoid Robotics: A Reference, Publisher: Springer
• 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, pp. 9
• Ledezma J.A., De Negri V.J., Barasuol V.^iit
  DOI

  Interaction analysis between a hydraulic load simulator and a pneumatic positioning system

  ASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017
• Gao Y.^iit, Barasuol V.^iit, Caldwell D. G.^iit, Semini C.^iit

  Kinematic Design of a Configurable Terrain Simulator Platform for Robotic Legs

  2017 IEEE International Conference on Advanced Robotics and Mechatronics
• Heijmink E., Radulescu A.^iit, Ponton B., Barasuol V.^iit, Caldwell D. G.^iit, Semini C.^iit

  Learning Optimal Gait Parameters and Impedance Profiles for Legged Locomotion

  2017 IEEE-RAS International Conference on Humanoid Robots
• Camurri M.^iit, Fallon M., Bazeille S., Radulescu A.^iit, Barasuol V.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots

  IEEE Robotics and Automation Letters, vol. 2, (no. 2), pp. 8
• Frigerio M.^iit, Barasuol V.^iit, Focchi M.^iit, Caldwell D. G.^iit, Semini C.^iit

  Validation of Computer Simulations of the HyQ Robot

  International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
• 2016
• Semini C.^iit, Barasuol V., Boaventura T., Frigerio M.^iit, Buchli J.
  DOI

  Is active impedance the key to a breakthrough for legged robots?

  Springer Tracts in Advanced Robotics, vol. 114, pp. 3-19
• Gao Y.^iit, Barasuol V.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Study on the morphological parameters of quadruped robot designs considering ditch traversability

  2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, pp. 283-288
• 2015
• 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
• Khan H.^iit, Kitano S., Frigerio M.^iit, Camurri M.^iit, Barasuol V.^iit, Featherstone R.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Development of the lightweight hydraulic quadruped robot - MiniHyQ

  IEEE Conference on Technologies for Practical Robot Applications, TePRA, vol. 2015-August
• Barasuol V.^iit, Camurri M.^iit, Bazeille S.^iit, Caldwell D.G.^iit, Semini C.^iit
  DOI

  Reactive trotting with foot placement corrections through visual pattern classification

  IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, pp. 5734-5741
• 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
• Barasuol V.^iit, Buchli J., De Negri V. J., De Pieri E. R., Caldwell D. G.^iit, Semini C.^iit

  On Trajectory Generation and Active Impedance for Running Trotting

  Dynamic Walking
• 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
• Khan H.^iit, Semini C.^iit, Caldwell D.G.^iit, Barasuol V.
  DOI

  Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots

  Nature-Inspired Mobile Robotics, pp. 511-518, Publisher: World Scientific Publishing Co.
• Barasuol V., Buchli J.^iit, Semini C.^iit, Frigerio M.^iit, De Pieri E.R., Caldwell D.G.^iit
  DOI

  A reactive controller framework for quadrupedal locomotion on challenging terrain

  Proceedings - IEEE International Conference on Robotics and Automation, pp. 2554-2561
• 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.
• Havoutis I.^iit, Ortiz J.^iit, Bazeille S.^iit, Barasuol V., Semini C.^iit, Caldwell D.G.^iit
  DOI

  Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ)

  IEEE International Conference on Intelligent Robots and Systems, pp. 6052-6057
• 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
• 2011
• Barasuol V., De Negri V. J., De Pieri E.R.
  DOI

  WCPG: A central pattern generator for legged robots based on workspace intentions

  ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011, vol. 2, pp. 111-114
• 2010
• Barasuol V., Barreto Campelo Cruz F., De Pieri E. R.

  An impedance control approach for machining tasks using elastic joint manipulators

  ABCM Symposium Series in Mechatronics - Vol. 4
• Simas H., Barasuol V., Kinceler R., Raposo E., Martins D., De Pieri E. R., De Negri V. J., Stemmer M., Castelan E., Negreiros D. C., Cruz de Freitas Da Paz M., Alvez do Nascimento J. C.

  Kinematic Conception of a Hydraulic Robot Applied to Power line insulators maintenance

  ABCM Symposium Series in Mechatronics - Vol. 4