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2020 – today
- 2024
[j31]Lorenzo Amatucci
, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini:
VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal. J. Field Robotics 41(6): 1829-1842 (2024)- [c67]Alex T. Leonardi, Vivian S. Medeiros, Claudio Semini, Victor Barasuol:
A Hybrid Force/Impedance Motion Controller for Robust Quadruped Locomotion on Sandy, Slippery, and Collapsing Terrains. CLAWAR (2) 2024: 304-315 - [c66]Hilton Marques Souza Santana, João Carlos Virgolino Soares, Ylenia Nisticò, Marco Antonio Meggiolaro, Claudio Semini:
Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions. Humanoids 2024: 213-220 - [c65]Victor Barasuol, Sinan Emre, Vivian Suzano Medeiros, Angelo Bratta, Claudio Semini:
Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots. ICRA 2024: 3457-3463 - [c64]Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath:
Leveraging Symmetry in RL-based Legged Locomotion Control. IROS 2024: 6899-6906 - [c63]Giulio Turrisi, Lucas Schulze, Vivian S. Medeiros, Claudio Semini, Victor Barasuol:
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control. IROS 2024: 11139-11146 - [c62]Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini:
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization. IROS 2024: 12734-12741 - [c61]Giulio Turrisi, Valerio Modugno, Lorenzo Amatucci, Dimitrios Kanoulas, Claudio Semini:
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion. IROS 2024: 13757-13764 - [c60]Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil:
Dynamics harmonic analysis of robotic systems: Application in data-driven Koopman modelling. L4DC 2024: 1318-1329 - [c59]Amir H. Rad, Matteo Villa, Angelo Bratta, Matteo Zoppi, Claudio Semini:
Design of a Container Mechanism for Trash Collection on Quadruped Robots. MESA 2024: 1-6 - [c58]Gabriel Fischer Abati, João Carlos Virgolino Soares, Vivian Suzano Medeiros, Marco Antonio Meggiolaro, Claudio Semini:
Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation. UR 2024: 1-8 - [c57]Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini:
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. UR 2024: 747-754 - [i51]Daniel Felipe Ordoñez Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martín, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli:
Morphological Symmetries in Robotics. CoRR abs/2402.15552 (2024) - [i50]Giulio Turrisi, Valerio Modugno, Lorenzo Amatucci, Dimitrios Kanoulas, Claudio Semini:
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion. CoRR abs/2403.11383 (2024) - [i49]Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini:
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization. CoRR abs/2403.11742 (2024) - [i48]Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath:
Leveraging Symmetry in RL-based Legged Locomotion Control. CoRR abs/2403.17320 (2024) - [i47]Giulio Turrisi, Lucas Schulze, Vivian S. Medeiros, Claudio Semini, Victor Barasuol:
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control. CoRR abs/2403.19862 (2024) - [i46]Gabriel Fischer Abati, João Carlos Virgolino Soares, Vivian Suzano Medeiros, Marco Antonio Meggiolaro, Claudio Semini:
Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation. CoRR abs/2405.02177 (2024) - [i45]Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv, Angela Dai, Victor Barasuol, Giulio Turrisi, Claudio Semini:
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning. CoRR abs/2408.07508 (2024) - [i44]Michael Adlerstein, Angelo Bratta, João Carlos Virgolino Soares, Giovanni Dessy, Miguel Fernandes, Matteo Gatti, Claudio Semini:
Creating a Segmented Pointcloud of Grapevines by Combining Multiple Viewpoints Through Visual Odometry. CoRR abs/2408.16472 (2024) - [i43]Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci:
Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots. CoRR abs/2409.01144 (2024) - [i42]Hilton Marques Souza Santana, João Carlos Virgolino Soares, Ylenia Nisticò, Marco Antonio Meggiolaro, Claudio Semini:
Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions. CoRR abs/2410.05256 (2024) - 2023
- [j30]Chie Takahashi, Barry Lennox, Claudio Semini, Manuel Giuliani, Young Soo Park, William R. Hamel:
Editorial: Robotics in extreme environments, volume II. Frontiers Robotics AI 10 (2023) - [j29]Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini:
Reactive Landing Controller for Quadruped Robots. IEEE Robotics Autom. Lett. 8(11): 7210-7217 (2023) - [j28]Angelo Bratta, Michele Focchi, Niraj Rathod, Claudio Semini:
Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots. Robotics 12(1): 6 (2023) - [j27]Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi:
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. Sensors 23(3): 1234 (2023) - [j26]Shamel Fahmi, Victor Barasuol, Domingo Esteban, Octavio Villarreal, Claudio Semini:
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots. IEEE Trans. Robotics 39(2): 885-904 (2023) - [j25]Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini:
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion. IEEE Trans. Robotics 39(5): 3499-3515 (2023) - [c56]Victor Barasuol, Sinan Emre, Claudio Semini:
Stair-Climbing Charts: On the Optimal Body Height for Quadruped Robots to Walk on Stairs. CLAWAR (1) 2023: 251-262 - [c55]Michele Focchi, Francesco Roscia, Claudio Semini:
Locosim: An Open-Source Cross-Platform Robotics Framework. CLAWAR (2) 2023: 395-406 - [c54]Shafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, Claudio Semini:
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. Humanoids 2023: 1-8 - [c53]Lee Milburn, Juan Gamba, Miguel Fernandes, Claudio Semini:
Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots. ICARSC 2023: 239-244 - [c52]Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol:
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators. IROS 2023: 1-8 - [c51]Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, Sven Behnke:
Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller. IROS 2023: 800-806 - [i41]Lee Milburn, Juan Gamba, Claudio Semini:
Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots. CoRR abs/2301.00887 (2023) - [i40]Lee Milburn, Juan Gamba, Miguel Fernandes, Claudio Semini:
Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots. CoRR abs/2305.01700 (2023) - [i39]Michele Focchi, Francesco Roscia, Claudio Semini:
Locosim: an Open-Source Cross-Platform Robotics Framework. CoRR abs/2305.02107 (2023) - [i38]Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini:
Reactive Landing Controller for Quadruped Robots. CoRR abs/2305.07748 (2023) - [i37]Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol:
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators. CoRR abs/2307.04918 (2023) - [i36]Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, Sven Behnke:
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller. CoRR abs/2307.12292 (2023) - [i35]Shafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, Claudio Semini:
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. CoRR abs/2307.12664 (2023) - [i34]Shafeef Omar, Lorenzo Amatucci, Giulio Turrisi, Victor Barasuol, Claudio Semini:
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion. CoRR abs/2307.14775 (2023) - [i33]Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil:
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling. CoRR abs/2312.07457 (2023) - 2022
- [j24]Ylenia Nisticò, Shamel Fahmi, Lucia Pallottino, Claudio Semini, Geoff Fink:
On Slip Detection for Quadruped Robots. Sensors 22(8): 2967 (2022) - [c50]Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini:
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots. ICRA 2022: 4679-4685 - [c49]Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators. IROS 2022: 9620-9627 - [i32]Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini:
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots. CoRR abs/2203.04434 (2022) - [i31]Angelo Bratta, Michele Focchi, Niraj Rathod, Mario Zanon, Alberto Bemporad, Claudio Semini:
Governor: a Reference Generator for Nonlinear Model Predictive Control in Legged Robots. CoRR abs/2207.10175 (2022) - [i30]Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators. CoRR abs/2208.00810 (2022) - [i29]Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi:
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. CoRR abs/2208.12066 (2022) - [i28]Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini:
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. CoRR abs/2209.15566 (2022) - [i27]Shamel Fahmi, Victor Barasuol, Domingo Esteban, Octavio Villarreal, Claudio Semini:
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots. CoRR abs/2212.01246 (2022) - 2021
- [j23]Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad:
Model Predictive Control With Environment Adaptation for Legged Locomotion. IEEE Access 9: 145710-145727 (2021) - [j22]Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels:
Effect of compliance on morphological control of dynamic locomotion with HyQ. Auton. Robots 45(3): 421-434 (2021) - [j21]Chie Takahashi, Manuel Giuliani, Barry Lennox, William R. Hamel, Rustam Stolkin, Claudio Semini:
Editorial: Robotics in Extreme Environments. Frontiers Robotics AI 8: 744092 (2021) - [i26]Shamel Fahmi, Geoff Fink, Claudio Semini:
On State Estimation for Legged Locomotion over Soft Terrain. CoRR abs/2101.02279 (2021) - [i25]Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad:
Mobility-enhanced MPC for Legged Locomotion on Rough Terrain. CoRR abs/2105.05998 (2021) - [i24]Tao Teng, Miguel Fernandes, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin G. Caldwell, Fei Chen:
Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation. CoRR abs/2105.10777 (2021) - [i23]Miguel Fernandes, Antonello Scaldaferri, Giuseppe Fiameni, Tao Teng, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin G. Caldwell, Fei Chen:
Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation. CoRR abs/2106.04208 (2021) - [i22]Miguel Fernandes, Antonello Scaldaferri, Paolo Guadagna, Giuseppe Fiameni, Tao Teng, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin G. Caldwell, Fei Chen:
Towards Precise Pruning Points Detection using Semantic-Instance-Aware Plant Models for Grapevine Winter Pruning Automation. CoRR abs/2109.07247 (2021) - 2020
- [j20]Gennaro Raiola, Enrico Mingo Hoffman, Michele Focchi, Nikos G. Tsagarakis, Claudio Semini:
A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots. Frontiers Robotics AI 7: 528473 (2020) - [j19]Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini:
STANCE: Locomotion Adaptation Over Soft Terrain. IEEE Trans. Robotics 36(2): 443-457 (2020) - [j18]Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
Feasible Region: An Actuation-Aware Extension of the Support Region. IEEE Trans. Robotics 36(4): 1239-1255 (2020) - [j17]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control. IEEE Trans. Robotics 36(6): 1635-1648 (2020) - [c48]Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini:
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics. ICRA 2020: 1417-1423 - [c47]Octavio Villarreal, Victor Barasuol, Patrick M. Wensing, Darwin G. Caldwell, Claudio Semini:
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. ICRA 2020: 2436-2442 - [c46]Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels:
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot. ICRA 2020: 6127-6133 - [c45]Carlos Gonzalez, Victor Barasuol, Marco Frigerio, Roy Featherstone, Darwin G. Caldwell, Claudio Semini:
Line Walking and Balancing for Legged Robots with Point Feet. IROS 2020: 3649-3656 - [c44]Geoff Fink, Claudio Semini:
Proprioceptive Sensor Fusion for Quadruped Robot State Estimation. IROS 2020: 10914-10920 - [p1]Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini:
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. ECHORD++ 2020: 165-209 - [i21]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control. CoRR abs/2003.05481 (2020) - [i20]Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels:
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot. CoRR abs/2003.09327 (2020) - [i19]Carlos Gonzalez, Victor Barasuol, Marco Frigerio, Roy Featherstone, Darwin G. Caldwell, Claudio Semini:
Line Walking and Balancing for Legged Robots with Point Feet. CoRR abs/2007.01087 (2020) - [i18]Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini:
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion. CoRR abs/2011.07967 (2020)
2010 – 2019
- 2019
- [j16]Octavio Antonio Villarreal-Magaña, Victor Barasuol, Marco Camurri, Luca Franceschi, Michele Focchi, Massimiliano Pontil, Darwin G. Caldwell, Claudio Semini:
Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs. IEEE Robotics Autom. Lett. 4(2): 2140-2147 (2019) - [j15]Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini:
Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain. IEEE Robotics Autom. Lett. 4(3): 2553-2560 (2019) - [c43]Andrzej Reinke, Marco Camurri, Claudio Semini:
A Factor Graph Approach to Multi-camera Extrinsic Calibration on Legged Robots. IRC 2019: 391-394 - [i17]Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Claudio Semini:
Feasible Region: an Actuation-Aware Extension of the Support Region. CoRR abs/1903.07999 (2019) - [i16]Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini:
On-line and on-board planning and perception for quadrupedal locomotion. CoRR abs/1904.03693 (2019) - [i15]Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain. CoRR abs/1904.03695 (2019) - [i14]Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini:
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization. CoRR abs/1904.04595 (2019) - [i13]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences. CoRR abs/1904.04600 (2019) - [i12]Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini:
STANCE: Locomotion Adaptation over Soft Terrain. CoRR abs/1904.12306 (2019) - [i11]Octavio Antonio Villarreal-Magaña, Victor Barasuol, Patrick M. Wensing, Claudio Semini:
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. CoRR abs/1909.13842 (2019) - [i10]Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini:
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics. CoRR abs/1910.06855 (2019) - 2018
- [j14]Koichi Suzumori, Sang-Ho Hyon, Claudio Semini, Jouni Mattila, Takefumi Kanda:
Special Issue on 'New Hydraulic Components for Tough Robots'. Adv. Robotics 32(9): 457 (2018) - [j13]Victor Barasuol, Octavio Antonio Villarreal-Magaña, Dhinesh Sangiah, Marco Frigerio, Mike Baker, Robert Morgan, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Claudio Semini:
Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control. Frontiers Robotics AI 5: 51 (2018) - [j12]Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini:
Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization. IEEE Robotics Autom. Lett. 3(3): 2531-2538 (2018) - [j11]Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini:
Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots. IEEE Robotics Autom. Lett. 3(4): 3363-3370 (2018) - [i9]Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini:
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. CoRR abs/1805.10238 (2018) - [i8]Octavio Antonio Villarreal-Magaña, Victor Barasuol, Marco Camurri, Michele Focchi, Luca Franceschi, Massimiliano Pontil, Darwin G. Caldwell, Claudio Semini:
Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks. CoRR abs/1809.09759 (2018) - [i7]Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini:
Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain. CoRR abs/1811.00884 (2018) - [i6]Andrzej Reinke, Marco Camurri, Claudio Semini:
A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots. CoRR abs/1811.01254 (2018) - 2017
- [j10]Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli:
Automatic differentiation of rigid body dynamics for optimal control and estimation. Adv. Robotics 31(22): 1225-1237 (2017) - [j9]Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin G. Caldwell, Claudio Semini:
High-slope terrain locomotion for torque-controlled quadruped robots. Auton. Robots 41(1): 259-272 (2017) - [j8]Marco Camurri, Maurice F. Fallon, Stéphane Bazeille, Andreea Radulescu, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots. IEEE Robotics Autom. Lett. 2(2): 1023-1030 (2017) - [j7]Aaron M. Dollar, Claudio Semini, Kyujin Cho, Matei T. Ciocarlie:
Bringing Together Researchers in Robot Mechanisms and Design [TC Spotlight]. IEEE Robotics Autom. Mag. 24(1): 18-19 (2017) - [j6]Stéphane Bazeille, Jesús Ortiz, Francesco Rovida, Marco Camurri, Anis Meguenani, Darwin G. Caldwell, Claudio Semini:
Active camera stabilization to enhance the vision of agile legged robots. Robotica 35(4): 942-960 (2017) - [j5]Hamza Khan, Mariapaola D'Imperio, Ferdinando Cannella, Darwin G. Caldwell, Alfred Cuschieri, Claudio Semini:
Towards Scalable Strain Gauge-Based Joint Torque Sensors. Sensors 17(8): 1905 (2017) - [c42]Elco Heijmink, Andreea Radulescu, Brahayam Ponton, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
Learning optimal gait parameters and impedance profiles for legged locomotion. Humanoids 2017: 339-346 - [c41]Yifu Gao, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
Kinematic design of a configurable terrain simulator platform for robotic legs. ICARM 2017: 167-172 - [c40]Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin G. Caldwell, Claudio Semini:
Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion. ICRA 2017: 1096-1103 - [c39]Andreea Radulescu, Ioannis Havoutis, Darwin G. Caldwell, Claudio Semini:
Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems. ICRA 2017: 5302-5307 - [c38]Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini:
Online payload identification for quadruped robots. IROS 2017: 4889-4896 - [c37]Michele Focchi, Roy Featherstone, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini:
Viscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain. IROS 2017: 5353-5360 - [c36]Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin G. Caldwell, Claudio Semini, Maurice F. Fallon:
Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots. Robotics: Science and Systems 2017 - [i5]Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli:
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation. CoRR abs/1709.03799 (2017) - [i4]Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini:
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP). CoRR abs/1712.02731 (2017) - [i3]Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini:
A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes. CoRR abs/1712.06833 (2017) - 2016
- [c35]Hiroaki Kuwahara, Fujio Terai, Michele Focchi, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Claudio Semini:
A design method of a robust controller for hydraulic actuation with disturbance observers. AMC 2016: 289-296 - [c34]Bilal Ur Rehman, Michele Focchi, Jinoh Lee, Houman Dallali, Darwin G. Caldwell, Claudio Semini:
Towards a multi-legged mobile manipulator. ICRA 2016: 3618-3624 - [c33]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Hierarchical planning of dynamic movements without scheduled contact sequences. ICRA 2016: 4636-4641 - [c32]Yifu Gao, Victor Barasuol, Darwin G. Caldwell, Claudio Semini:
Study on the morphological parameters of quadruped robot designs considering ditch traversability. ROBIO 2016: 283-288 - [c31]Michael Neunert, Markus Giftthaler, Marco Frigerio, Claudio Semini, Jonas Buchli:
Fast derivatives of rigid body dynamics for control, optimization and estimation. SIMPAR 2016: 91-97 - [i2]Marco Frigerio, Victor Barasuol, Michele Focchi, Claudio Semini:
Validation of computer simulations of the HyQ robot. CoRR abs/1604.06818 (2016) - 2015
- [j4]Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Kana Kayamori, Darwin G. Caldwell, Tatsuo Narikiyo:
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ. Auton. Robots 38(4): 415-437 (2015) - [j3]Claudio Semini, Victor Barasuol, Thiago Boaventura Cunha, Marco Frigerio, Michele Focchi, Darwin G. Caldwell, Jonas Buchli:
Towards versatile legged robots through active impedance control. Int. J. Robotics Res. 34(7): 1003-1020 (2015) - [j2]Thiago Boaventura Cunha, Jonas Buchli, Claudio Semini, Darwin G. Caldwell:
Model-Based Hydraulic Impedance Control for Dynamic Robots. IEEE Trans. Robotics 31(6): 1324-1336 (2015) - [c30]Claudio Semini, Jake Goldsmith, Diego Manfredi, Flaviana Calignano, Elisa Paola Ambrosio, Jukka Pakkanen, Darwin G. Caldwell:
Additive manufacturing for agile legged robots with hydraulic actuation. ICAR 2015: 123-129 - [c29]Hamza Khan, Roy Featherstone, Darwin G. Caldwell, Claudio Semini:
Bio-inspired knee joint mechanism for a hydraulic quadruped robot. ICARA 2015: 325-331 - [c28]Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. ICRA 2015: 5148-5154 - [c27]Victor Barasuol, Marco Camurri, Stéphane Bazeille, Darwin G. Caldwell, Claudio Semini:
Reactive trotting with foot placement corrections through visual pattern classification. IROS 2015: 5734-5741 - [c26]Michele Focchi, Victor Barasuol, Marco Frigerio, Darwin G. Caldwell, Claudio Semini:
Slip Detection and Recovery for Quadruped Robots. ISRR (2) 2015: 185-199 - [c25]Marco Camurri, Stéphane Bazeille, Darwin G. Caldwell, Claudio Semini:
Real-time depth and inertial fusion for local SLAM on dynamic legged robots. MFI 2015: 259-264 - [c24]Xin Liu, Claudio Semini, Ioannis Poulakakis:
Active compliance hybrid zero dynamics control of bounding on HyQ. ROBIO 2015: 1047-1052 - [c23]Hamza Khan, Satoshi Kitano, Marco Frigerio, Marco Camurri, Victor Barasuol, Roy Featherstone, Darwin G. Caldwell, Claudio Semini:
Development of the lightweight hydraulic quadruped robot - MiniHyQ. TePRA 2015: 1-6 - [c22]Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini:
On-line and on-board planning and perception for quadrupedal locomotion. TePRA 2015: 1-7 - 2014
- [j1]Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell, Claudio Semini:
Quadruped robot trotting over irregular terrain assisted by stereo-vision. Intell. Serv. Robotics 7(2): 67-77 (2014) - [c21]Alexander W. Winkler, Ioannis Havoutis, Stéphane Bazeille, Jesús Ortiz, Michele Focchi, Rüdiger Dillmann, Darwin G. Caldwell, Claudio Semini:
Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots. ICRA 2014: 6476-6482 - [c20]Mariapaola D'Imperio, Ferdinando Cannella, Fei Chen, Daniele Catelani, Claudio Semini, Darwin G. Caldwell:
Modelling Legged Robot Multi-Body Dynamics Using Hierarchical Virtual Prototype Design. Living Machines 2014: 59-71 - [i1]Michele Focchi, Gustavo A. Medrano-Cerda, Thiago Boaventura Cunha, Marco Frigerio, Claudio Semini, Jonas Buchli, Darwin G. Caldwell:
Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops. CoRR abs/1406.4047 (2014) - 2013
- [c19]Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell:
Quadrupedal trotting with active compliance. ICM 2013: 610-616 - [c18]Victor Barasuol, Jonas Buchli, Claudio Semini, Marco Frigerio, Edson R. de Pieri, Darwin G. Caldwell:
A reactive controller framework for quadrupedal locomotion on challenging terrain. ICRA 2013: 2554-2561 - [c17]Thiago Boaventura Cunha, Gustavo A. Medrano-Cerda, Claudio Semini, Jonas Buchli, Darwin G. Caldwell:
Stability and performance of the compliance controller of the quadruped robot HyQ. IROS 2013: 1458-1464 - [c16]Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Darwin G. Caldwell:
Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control. IROS 2013: 6044-6051 - [c15]Ioannis Havoutis, Jesús Ortiz, Stéphane Bazeille, Victor Barasuol, Claudio Semini, Darwin G. Caldwell:
Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ). IROS 2013: 6052-6057 - [c14]Claudio Semini, Victor Barasuol, Thiago Boaventura Cunha, Marco Frigerio, Jonas Buchli:
Is Active Impedance the Key to a Breakthrough for Legged Robots? ISRR 2013: 3-19 - [c13]Muhammad Asif Arain, Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell:
A comparison of search-based planners for a legged robot. RoMoCo 2013: 104-109 - [c12]Marco Hutter, Michael Blösch, Jonas Buchli, Claudio Semini, Stéphane Bazeille, Ludovic Righetti, Jeannette Bohg:
AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots. SSRR 2013: 1-4 - [c11]Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Claudio Semini, Darwin G. Caldwell:
Vision enhanced reactive locomotion control for trotting on rough terrain. TePRA 2013: 1-6 - 2012
- [c10]Michele Focchi, Thiago Boaventura, Claudio Semini, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell:
Torque-control based compliant actuation of a quadruped robot. AMC 2012: 1-6 - [c9]Thiago Boaventura Cunha, Claudio Semini, Jonas Buchli, Marco Frigerio, Michele Focchi, Darwin G. Caldwell:
Dynamic torque control of a hydraulic quadruped robot. ICRA 2012: 1889-1894 - [c8]Thiago Boaventura Cunha, Michele Focchi, Marco Frigerio, Jonas Buchli, Claudio Semini, Gustavo A. Medrano-Cerda, Darwin G. Caldwell:
On the role of load motion compensation in high-performance force control. IROS 2012: 4066-4071 - 2010
- [c7]Michele Focchi, Emanuele Guglielmino, Claudio Semini, Thiago Boaventura Cunha, Yousheng Yang, Darwin G. Caldwell:
Control of a hydraulically-actuated quadruped robot leg. ICRA 2010: 4182-4188 - [c6]Michele Focchi, Emanuele Guglielmino, Claudio Semini, Alberto Parmiggiani, Nikolaos G. Tsagarakis, Bram Vanderborght, Darwin G. Caldwell:
Water/air performance analysis of a fluidic muscle. IROS 2010: 2194-2199 - [c5]Yousheng Yang, Emanuele Guglielmino, Claudio Semini, Jian S. Dai, Darwin G. Caldwell:
A 3-way valve-controlled spring assisted rotary actuator. IROS 2010: 2958-2963 - [c4]Emanuele Guglielmino, Claudio Semini, Helmut Kogler, Rudolf Scheidl, Darwin G. Caldwell:
Power hydraulics - switched mode control of hydraulic actuation. IROS 2010: 3031-3036 - [c3]Claudio Semini, Nikolaos G. Tsagarakis, Emanuele Guglielmino, Darwin G. Caldwell:
Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot. IROS 2010: 3640-3645
2000 – 2009
- 2009
- [c2]Bram Vanderborght, Nikolaos G. Tsagarakis, Claudio Semini, Ronald Van Ham, Darwin G. Caldwell:
MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping. ICRA 2009: 544-549 - [c1]Yousheng Yang, Claudio Semini, Nikolaos G. Tsagarakis, Emanuele Guglielmino, Darwin G. Caldwell:
Leg mechanisms for hydraulically actuated robots. IROS 2009: 4669-4675
Coauthor Index
[j31] [c67] [c65] [c63] [c62] [i49] [i47] [i45] [j26] [c56] [c54] [c52] [c51] [i37] [i36] [i35] [i34] [c50] [c49] [i32] [i30] [i27] [j22] [j19] [j18] [c48] [c47] [c46] [c45] [p1] [i20] [i19] [j16] [i17] [i12] [i11] [i10] [j13] [i9] [i8] [j8] [c42] [c41] [c36] [c32] [i2] [j3] [c27] [c26] [c23] [j1] [c18] [c15] [c14] [c11]
[j29] [c52] [i38] [i37] [c49] [i30] [i24] [i23] [i22] [j18] [j17] [c47] [c45] [p1] [i21] [i19] [j16] [i16] [i15] [i14] [i13] [j13] [j12] [j11] [i9] [i8] [j9] [j8] [j6] [j5] [c42] [c41] [c40] [c39] [c38] [c37] [c36] [i4] [i3] [c35] [c34] [c33] [c32] [j4] [j3] [j2] [c30] [c29] [c28] [c27] [c26] [c25] [c23] [c22] [j1] [c21] [c20] [i1] [c19] [c18] [c17] [c16] [c15] [c13] [c11] [c10] [c9] [c8] [c7] [c6] [c5] [c4] [c3] [c2] [c1]
[c57] [j29] [j28] [j27] [j25] [c55] [i39] [i38] [c50] [i32] [i31] [i29] [i28] [j23] [i25] [j20] [j19] [j18] [j17] [c48] [p1] [i21] [i18] [j16] [j15] [i17] [i15] [i14] [i13] [i12] [i10] [j12] [j11] [i9] [i8] [i7] [j9] [c40] [c38] [c37] [c36] [i4] [i3] [c35] [c34] [c33] [i2] [j3] [c28] [c26] [j1] [c21] [i1] [c11] [c10] [c9] [c8] [c7] [c6]
Octavio Antonio Villarreal-Magaña
aka: Octavio Villarreal
aka: Octavio Villarreal
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