2025
Elobaid M., Turrisi G., Rapetti L., Romualdi G., Dafarra S., Kawakami T., Chaki T., Yoshiike T., Semini C., Pucci D.
Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots
IEEE Robotics and Automation Letters
2025
Focchi M., Del Prete A., Fontanelli D., Frego M., Peer A., Palopoli L.
ALPINE: a climbing robot for operations in mountain environments
Robotics and Autonomous Systems
Article
Journal
2025
Apraez D.O., Turrisi G., Kostic V., Martin M., Agudo A., Moreno-Noguer F., Pontil M., Semini C., Mastalli C.
Morphological symmetries in robotics
International Journal of Robotics Research
2025
Nistico Y., Kim H., Soares J.C.V., Fink G., Park H.-W., Semini C.
Multi-Sensor Fusion for Quadruped Robot State Estimation Using Invariant Filtering and Smoothing
IEEE Robotics and Automation Letters
Article
Journal
2025
Nistico Y., Soares J.C.V., Amatucci L., Fink G., Semini C.
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots
IEEE Robotics and Automation Letters, vol. 10, (no. 5), pp. 4620-4627
Article
Journal
2024
Amatucci L., Turrisi G., Bratta A., Barasuol V., Semini C.
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
IEEE International Conference on Intelligent Robots and Systems, pp. 12734-12741
Conference Paper
Conference
2024
Amatucci L., Turrisi G., Bratta B., Barasuol V., Semini C.
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems
Conference Paper
Conference
2024
Leonardi A.T., Medeiros V.S., Semini C., Barasuol V.
A Hybrid Force/Impedance Motion Controller for Robust Quadruped Locomotion on Sandy, Slippery, and Collapsing Terrains
Lecture Notes in Networks and Systems, vol. 1115 LNNS, pp. 304-315
Conference Paper
Book Series
2024
Bratta A., Meduri A., Focchi M., Righetti L., Semini C.
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
2024 21st International Conference on Ubiquitous Robots, UR 2024, pp. 747-754
2024
Murphy K., Soares J.C.V., Yim J.K., Nottage D., Soylemezoglu A., Ramos J.
Cooperative Modular Manipulation with Numerous Cable-Driven Robots for Assistive Construction and Gap Crossing
IEEE International Conference on Intelligent Robots and Systems, pp. 4503-4510
Conference Paper
Conference
2024
Adlerstein M., Bratta A., Soares J. C. V., Dessy G. B., Fernandes M. I. F., Gatti M., Semini C.
Creating a Segmented Pointcloud of Grapevines by Combining Multiple Viewpoints Through Visual Odometry
Advancing Sustainable Food Systems through Agri-Robotics Innovations, ICRA 2024 Workshop
Abstract Report
Conference
2024
Rad A.H., Villa M., Bratta A., Zoppi M., Semini C.
Design of a Container Mechanism for Trash Collection on Quadruped Robots
MESA 2024 - 20th International Conference on Mechatronic, Embedded Systems and Applications, Proceedings
Conference Paper
Conference
2024
Bussola R., Focchi M., Zilio N., Palopoli L., Fontanelli D.
Distributed Robot Perception for Tracked Vehicles
Italian Conference on Robotics and Intelligent Machines
Conference Paper
Conference
2024
Ordonez-Apraez D.F., Kostic V., Turrisi G., Novelli P., Mastalli C., Semini C., Pontil M.
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling
Proceedings of Machine Learning Research, vol. 242, pp. 1318-1329
Conference Paper
Conference
2024
Barasuol V., Villa M., Dessy G.B., Semini C.
Improved Design and Control for Sliding Locomotion for Legged Rovers on Steep Terrain during Space Exploration
Proceedings of the International Astronautical Congress, IAC, vol. 3-C, pp. 1612-1617
Conference Paper
Conference