Arturo Laurenzi

72 papers A* 9A 8C 1Journal 38Unranked 15

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion. CoRR Andrea Patrizi, Carlo Rizzardo, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Nikos G. Tsagarakis
2026	J	`jnl`	RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion. IEEE Robotics Autom. Lett. Andrea Patrizi, Carlo Rizzardo, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Nikos G. Tsagarakis
2025	J	`jnl`	A High-Force Gripper with Embedded Multimodal Sensing for Powerful and Perception Driven Grasping. CoRR Edoardo Del Bianco, Davide Torielli, Federico Rollo, Damiano Gasperini, Arturo Laurenzi, Lorenzo Baccelliere, Luca Muratore, Marco Roveri, Nikos G. Tsagarakis
2025	J	`jnl`	A Task-Driven, Planner-in-the-Loop Computational Design Framework for Modular Manipulators. CoRR Maolin Lei, Edoardo Romiti, Arturo Laurenzi, Rui Dai, Matteo Dalle Vedove, Jiatao Ding, Daniele Fontanelli, Nikolaos G. Tsagarakis
2025	J	`jnl`	CONCERT: a Modular Reconfigurable Robot for Construction. CoRR Luca Rossini, Edoardo Romiti, Arturo Laurenzi, Francesco Ruscelli, Marco Ruzzon, Luca Covizzi, Lorenzo Baccelliere, Stefano Carrozzo, Michael Terzer, Marco Magri, Carlo Morganti, Maolin Lei, Liana Bertoni, Diego Vedelago, Corrado Burchielli, Stefano Cordasco, Luca Muratore, Andrea Giusti, Nikolaos G. Tsagarakis
2025	J	`jnl`	Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations. IEEE Robotics Autom. Mag. Francesco Ruscelli, Luca Rossini, Enrico Mingo Hoffman, Lorenzo Baccelliere, Arturo Laurenzi, Luca Muratore, Davide Antonucci, Stefano Cordasco, Nikos G. Tsagarakis
2025	J	`jnl`	Door-to-Door Parcel Delivery From Supply Point to User's Home With Heterogeneous Robot Team: The euROBIN First-Year Robotics Hackathon. IEEE Robotics Autom. Mag. Alejandro Suárez, Rainer Kartmann, Daniel Leidner, Luca Rossini, Johann Huber, Carlos Azevedo, Quentin Rouxel, Marko Bjelonic, Antonio González-Morgado, Christian R. G. Dreher, Peter Schmaus, Arturo Laurenzi, François Hélénon, Rodrigo Serra, Jean-Baptiste Mouret, Lorenz Wellhausen, Vicente Perez-Sanchez, Jianfeng Gao, Adrian Simon Bauer, Alessio De Luca, Mouad Abrini, Rui Bettencourt, Olivier Rochel, Joonho Lee, Pablo Viana, Christoph Pohl, Nesrine Batti, Diego Vedelago, Vamsi Krishna Guda, Alexander Reske, Carlos Álvarez-Cía, Fabian Reister, Werner Friedl, Corrado Burchielli, Aline Baudry, Fabian Peller-Konrad, Thomas Gumpert, Luca Muratore, Philippe Gauthier, Franziska Krebs, Sebastian Jung, Lorenzo Baccelliere, Hippolyte Watrelot, André Meixner, Anne Köpken, Mohamed Chetouani, Pascal Weiner, Florian Lay, Felix Hundhausen, Anne E. Reichert, Noémie Jaquier, Florian Schmidt, Marco Sewtz, Freek Stulp, Lioba Suchenwirth, Rudolph Triebel, Xuwei Wu, Begoña C. Arrue, Rebecca Schedl-Warpup, Marco Hutter, Serena Ivaldi, Pedro U. Lima, Stéphane Doncieux, Nikos G. Tsagarakis, Tamim Asfour, Aníbal Ollero, Alin Albu-Schäffer
2025	J	`jnl`	Effective Data-Driven Joint Friction Modeling and Compensation With Physical Consistency. IEEE Robotics Autom. Lett. Rui Dai, Luca Rossini, Arturo Laurenzi, Andrea Patrizi, Nikolaos G. Tsagarakis
2025	J	`jnl`	The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints. IEEE Robotics Autom. Mag. Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2025	—	`conf`	Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies. CDC Maolin Lei, Edoardo Romiti, Arturo Laurenzi, Cheng Zhou, Wanli Xing, Liang Lu, Nikos G. Tsagarakis
2025	J	`jnl`	Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies. CoRR Maolin Lei, Edoardo Romiti, Arturo Laurenzi, Cheng Zhou, Wanli Xing, Liang Lu, Nikos G. Tsagarakis
2024	—	`conf`	A High-Force Gripper with Embedded Multimodal Sensing for Powerful and Perception Driven Grasping. Humanoids Edoardo Del Bianco, Davide Torielli, Federico Rollo, Damiano Gasperini, Arturo Laurenzi, Lorenzo Baccelliere, Luca Muratore, Marco Roveri, Nikos G. Tsagarakis
2024	A	`conf`	Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model. IROS Jin Wang, Arturo Laurenzi, Nikos G. Tsagarakis
2024	J	`jnl`	Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model. CoRR Jin Wang, Arturo Laurenzi, Nikolaos G. Tsagarakis
2024	A	`conf`	Task-Driven Computational Framework for Simultaneously Optimizing Design and Mounted Pose of Modular Reconfigurable Manipulators. IROS Maolin Lei, Edoardo Romiti, Arturo Laurenzi, Nikos G. Tsagarakis
2024	J	`jnl`	Task-Driven Computational Framework for Simultaneously Optimizing Design and Mounted Pose of Modular Reconfigurable Manipulators. CoRR Maolin Lei, Edoardo Romiti, Arturo Laurenzi, Nikos G. Tsagarakis
2023	J	`jnl`	A Unified Multimodal Interface for the RELAX High-Payload Collaborative Robot. Sensors Luca Muratore, Arturo Laurenzi, Alessio De Luca, Liana Bertoni, Davide Torielli, Lorenzo Baccelliere, Edoardo Del Bianco, Nikos G. Tsagarakis
2023	A*	`conf`	Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. ICRA Enrico Mingo Hoffman, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Lorenzo Baccelliere, Davide Antonucci, Alessio Margan, Paolo Guria, Marco Migliorini, Stefano Cordasco, Gennaro Raiola, Luca Muratore, Joaquín Estremera Rodrigo, Andrea Rusconi, Guido Sangiovanni, Nikos G. Tsagarakis
2023	J	`jnl`	Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. CoRR Enrico Mingo Hoffman, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Lorenzo Baccelliere, Davide Antonucci, Alessio Margan, Paolo Guria, Marco Migliorini, Stefano Cordasco, Gennaro Raiola, Luca Muratore, Joaquín Estremera Rodrigo, Andrea Rusconi, Guido Sangiovanni, Nikos G. Tsagarakis
2023	J	`jnl`	Multi-contact planning and control for humanoid robots: Design and validation of a complete framework. Robotics Auton. Syst. Paolo Ferrari, Luca Rossini, Francesco Ruscelli, Arturo Laurenzi, Giuseppe Oriolo, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2023	—	`conf`	Optimal Design of Agile Jumping Maneuvers for a Single Leg System. Humanoids Andrea Patrizi, Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis
2023	J	`jnl`	The XBot2 real-time middleware for robotics. Robotics Auton. Syst. Arturo Laurenzi, Davide Antonucci, Nikos G. Tsagarakis, Luca Muratore
2023	—	`conf`	Whole-Body MPC for Highly Redundant Legged Manipulators: Experimental Evaluation with a 37 DoF Dual-Arm Quadruped. Humanoids Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis
2023	J	`jnl`	Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped. CoRR Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis
2022	—	`conf`	An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments. Humanoids Maolin Lei, Liang Lu, Arturo Laurenzi, Luca Rossini, Edoardo Romiti, Jörn Malzahn, Nikos G. Tsagarakis
2022	J	`jnl`	Horizon: A Trajectory Optimization Framework for Robotic Systems. Frontiers Robotics AI Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2022	J	`jnl`	Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies. CoRR Luca Rossini, Paolo Ferrari, Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2022	—	`conf`	Optimal Modulation of Joint Stiffness with Guaranteed Stability for Quadruped Robots. AIM Xinyuan Zhao, Yuqiang Wu, Arturo Laurenzi, Nikos G. Tsagarakis
2022	J	`jnl`	Prototyping fast and agile motions for legged robots with Horizon. CoRR Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2022	—	`conf`	Task Driven Online Impedance Modulation. Humanoids Liana Bertoni, Luca Muratore, Arturo Laurenzi, Nikos G. Tsagarakis
2022	J	`jnl`	TelePhysicalOperation: Remote Robot Control Based on a Virtual "Marionette" Type Interaction Interface. IEEE Robotics Autom. Lett. Davide Torielli, Luca Muratore, Arturo Laurenzi, Nikos G. Tsagarakis
2022	—	`conf`	Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload. Humanoids Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis
2022	J	`jnl`	Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload. CoRR Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis
2022	J	`jnl`	Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains. Frontiers Robotics AI Xinyuan Zhao, Yuqiang Wu, Yangwei You, Arturo Laurenzi, Nikolaos G. Tsagarakis
2021	A*	`conf`	Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. ICRA Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2021	J	`jnl`	Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. CoRR Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2021	A*	`conf`	Locomotion Adaptation in Heavy Payload Transportation Tasks with the Quadruped Robot CENTAURO. ICRA Xinyuan Zhao, Yangwei You, Arturo Laurenzi, Navvab Kashiri, Nikos G. Tsagarakis
2021	A*	`conf`	Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers. ICRA Enrico Mingo Hoffman, Matteo Parigi Polverini, Arturo Laurenzi, Nikos G. Tsagarakis
2021	J	`jnl`	NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints. Frontiers Robotics AI Luca Rossini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2021	J	`jnl`	Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots. Frontiers Robotics AI Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2021	—	`conf`	Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion. HUMANOIDS Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Paolo Rocco, Nikolaos G. Tsagarakis
2021	J	`jnl`	Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion. CoRR Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Paolo Rocco, Nikolaos G. Tsagarakis
2020	A	`conf`	A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot. IROS Francesco Ruscelli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2020	J	`jnl`	A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid Robots. IEEE Robotics Autom. Lett. Enrico Mingo Hoffman, Matteo Parigi Polverini, Arturo Laurenzi, Nikos G. Tsagarakis
2020	J	`jnl`	An Augmented Kinematic Model for the Cartesian Control of the Hybrid Wheeled-Legged Quadrupedal Robot CENTAURO. IEEE Robotics Autom. Lett. Arturo Laurenzi, Enrico Mingo Hoffman, Matteo Parigi Polverini, Nikos G. Tsagarakis
2020	—	`—`	Motion Control of the Hybrid Wheeled-Legged Quadruped Robot Centauro. Arturo Laurenzi
2020	J	`jnl`	Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator. IEEE Robotics Autom. Lett. Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Francesco Ruscelli, Nikos G. Tsagarakis
2020	J	`jnl`	Remote mobile manipulation with the centauro robot: Full-body telepresence and autonomous operator assistance. J. Field Robotics Tobias Klamt, Max Schwarz, Christian Lenz, Lorenzo Baccelliere, Domenico Buongiorno, Torben Cichon, Antonio Di Guardo, David Droeschel, Massimiliano Gabardi, Malgorzata Kamedula, Navvab Kashiri, Arturo Laurenzi, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul Selvam Periyasamy, Diego Rodriguez, Massimiliano Solazzi, Antonio Frisoli, Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke
2020	J	`jnl`	The XBot Real-Time Software Framework for Robotics: From the Developer to the User Perspective. IEEE Robotics Autom. Mag. Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2019	A*	`conf`	A Self-Modulated Impedance Multimodal Interaction Framework for Human-Robot Collaboration. ICRA Luca Muratore, Arturo Laurenzi, Nikos G. Tsagarakis
2019	J	`jnl`	CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform. IEEE Robotics Autom. Lett. Navvab Kashiri, Lorenzo Baccelliere, Luca Muratore, Arturo Laurenzi, Zeyu Ren, Enrico Mingo Hoffman, Malgorzata Kamedula, Giuseppe Francesco Rigano, Jörn Malzahn, Stefano Cordasco, Paolo Guria, Alessio Margan, Nikos G. Tsagarakis
2019	A*	`conf`	CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework. ICRA Arturo Laurenzi, Enrico Mingo Hoffman, Luca Muratore, Nikos G. Tsagarakis
2019	J	`jnl`	Flexible Disaster Response of Tomorrow - Final Presentation and Evaluation of the CENTAURO System. CoRR Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist, Malgorzata Kamedula, Hakan Karaoguz, Navvab Kashiri, Arturo Laurenzi, Christian Lenz, Daniele Leonardis, Enrico Mingo Hoffman, Luca Muratore, Dmytro Pavlichenko, Francesco Porcini, Zeyu Ren, Fabian Schilling, Max Schwarz, Massimiliano Solazzi, Michael Felsberg, Antonio Frisoli, Michael Gustmann, Patric Jensfelt, Klas Nordberg, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke
2019	J	`jnl`	Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System. IEEE Robotics Autom. Mag. Tobias Klamt, Malgorzata Kamedula, Hakan Karaoguz, Navvab Kashiri, Arturo Laurenzi, Christian Lenz, Daniele Leonardis, Enrico Mingo Hoffman, Luca Muratore, Dmytro Pavlichenko, Francesco Porcini, Diego Rodriguez, Zeyu Ren, Fabian Schilling, Max Schwarz, Massimiliano Solazzi, Michael Felsberg, Antonio Frisoli, Michael Gustmann, Patric Jensfelt, Klas Nordberg, Juergen Rossmann, Lorenzo Baccelliere, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist
2019	J	`jnl`	Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance. CoRR Tobias Klamt, Max Schwarz, Christian Lenz, Lorenzo Baccelliere, Domenico Buongiorno, Torben Cichon, Antonio Di Guardo, David Droeschel, Massimiliano Gabardi, Malgorzata Kamedula, Navvab Kashiri, Arturo Laurenzi, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul Selvam Periyasamy, Diego Rodriguez, Massimiliano Solazzi, Antonio Frisoli, Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke
2019	J	`jnl`	Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids. IEEE Robotics Autom. Lett. Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2019	A	`conf`	Synchronizing Virtual Constraints and Preview Controller: a Walking Pattern Generator for the Humanoid Robot COMAN+. IROS Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2019	—	`conf`	Terrain Segmentation and Roughness Estimation using RGB Data: Path Planning Application on the CENTAURO Robot. Humanoids Vivekanandan Suryamurthy, Vignesh Sushrutha Raghavan, Arturo Laurenzi, Nikos G. Tsagarakis, Dimitrios Kanoulas
2019	A	`conf`	Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot. IROS Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Arturo Laurenzi, Darwin G. Caldwell, Nikos G. Tsagarakis
2019	—	`conf`	Whole-Body Stabilization for Visual-Based Box Lifting with the COMAN+ Robot. IRC Arturo Laurenzi, Dimitrios Kanoulas, Enrico Mingo Hoffman, Luca Muratore, Nikolaos G. Tsagarakis
2018	A	`conf`	A Fail-Safe Semi-Centralized Impedance Controller: Validation on a Parallel Kinematics Ankle. IROS Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2018	A*	`conf`	A Whole Body Attitude Stabilizer for Hybrid Wheeled-Legged Quadruped Robots. ICRA Juan Alejandro Castano, Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Malgorzata Karnedula, Nikos G. Tsagarakis
2018	J	`jnl`	A mixed real-time robot hardware abstraction layer (R-HAL). Encycl. Semantic Comput. Robotic Intell. Giuseppe Francesco Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2018	—	`conf`	Balancing Control Through Post-Optimization of Contact Forces. Humanoids Arturo Laurenzi, Enrico Mingo Hoffman, Matteo Parigi Polverini, Nikos G. Tsagarakis
2018	C	`conf`	Bi-Manual Articulated Robot Teleoperation using an External RGB-D Range Sensor. ICARCV Emily-Jane Rolley-Parnell, Dimitrios Kanoulas, Arturo Laurenzi, Brian Delhaisse, Leonel Dario Rozo, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	A*	`conf`	Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles. ICRA Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Lorenzo Baccelliere, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	A*	`conf`	Multi-Priority Cartesian Impedance Control Based on Quadratic Programming Optimization. ICRA Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Nikos G. Tsagarakis, Darwin G. Caldwell
2018	A	`conf`	Quadrupedal walking motion and footstep placement through Linear Model Predictive Control. IROS Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2018	—	`conf`	Towards a Robot Hardware Abstraction Layer (R-Hal) Leveraging the XBot Software Framework. IRC Giuseppe Francesco Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2017	A	`conf`	Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks. IROS Lorenzo Baccelliere, Navvab Kashiri, Luca Muratore, Arturo Laurenzi, Malgorzata Kamedula, Alessio Margan, Stefano Cordasco, Jörn Malzahn, Nikos G. Tsagarakis
2017	—	`conf`	Robot control for dummies: Insights and examples using OpenSoT. Humanoids Enrico Mingo Hoffman, Alessio Rocchi, Arturo Laurenzi, Nikos G. Tsagarakis
2017	—	`conf`	XBotCore: A Real-Time Cross-Robot Software Platform. IRC Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Alessio Rocchi, Darwin G. Caldwell, Nikos G. Tsagarakis