Claudio Semini

178 papers A* 16A 21C 1Journal 107Unranked 32

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	BinWalker: Development and Field Evaluation of a Quadruped Manipulator Platform for Sustainable Litter Collection. CoRR Giulio Turrisi, Angelo Bratta, Giovanni Minelli, Gabriel Fischer Abati, Amir H. Rad, João Carlos Virgolino Soares, Claudio Semini
2026	J	`jnl`	Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots. IEEE Robotics Autom. Lett. Lorenzo Amatucci, João Sousa Pinto, Giulio Turrisi, Dominique Orban, Victor Barasuol, Claudio Semini
2026	J	`jnl`	Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing. CoRR Peiyu Yang, Jiatao Ding, Wei Pan, Claudio Semini, Cosimo Della Santina
2025	J	`jnl`	Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots. IEEE Robotics Autom. Lett. Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci
2025	J	`jnl`	CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation. CoRR Giovanni Minelli, Giulio Turrisi, Victor Barasuol, Claudio Semini
2025	J	`jnl`	Grapevine winter pruning: Merging 2D segmentation and 3D point clouds for pruning point generation. Comput. Electron. Agric. Miguel Fernandes, Juan D. Gamba, Francesco Pelusi, Angelo Bratta, Darwin G. Caldwell, Stefano Poni, Matteo Gatti, Claudio Semini
2025	J	`jnl`	Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots. CoRR Riccardo Bussola, Michele Focchi, Giulio Turrisi, Claudio Semini, Luigi Palopoli
2025	—	`conf`	Load-Based Variable Transmission Mechanism for Robotic Applications. ICAR Sinan Emre, Victor Barasuol, Matteo Villa, Claudio Semini
2025	J	`jnl`	Load-Based Variable Transmission Mechanism for Robotic Applications. CoRR Sinan Emre, Victor Barasuol, Matteo Villa, Claudio Semini
2025	J	`jnl`	Load-Bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain. IEEE Robotics Autom. Lett. Vivian Suzano Medeiros, Giovanni Dessy, Thiago Boaventura, Marcelo Becker, Claudio Semini, Victor Barasuol
2025	J	`jnl`	Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain. CoRR Vivian Suzano Medeiros, Giovanni Dessy, Thiago Boaventura, Marcelo Becker, Claudio Semini, Victor Barasuol
2025	J	`jnl`	MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots. CoRR Ylenia Nisticò, João Carlos Virgolino Soares, Lorenzo Amatucci, Geoff Fink, Claudio Semini
2025	J	`jnl`	MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots. IEEE Robotics Autom. Lett. Ylenia Nisticò, João Carlos Virgolino Soares, Lorenzo Amatucci, Geoff Fink, Claudio Semini
2025	J	`jnl`	Morphological symmetries in robotics. Int. J. Robotics Res. Daniel Felipe Ordoñez Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martín, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli
2025	J	`jnl`	Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation. CoRR Zechu Li, Yufeng Jin, Daniel Felipe Ordoñez Apraez, Claudio Semini, Puze Liu, Georgia Chalvatzaki
2025	J	`jnl`	Multi-Sensor Fusion for Quadruped Robot State Estimation Using Invariant Filtering and Smoothing. IEEE Robotics Autom. Lett. Ylenia Nisticò, Hajun Kim, João Carlos Virgolino Soares, Geoff Fink, Hae-Won Park, Claudio Semini
2025	J	`jnl`	Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing. CoRR Ylenia Nisticò, Hajun Kim, João Carlos Virgolino Soares, Geoff Fink, Hae-Won Park, Claudio Semini
2025	J	`jnl`	Non-Gaited Legged Locomotion With Monte-Carlo Tree Search and Supervised Learning. IEEE Robotics Autom. Lett. Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv, Angela Dai, Victor Barasuol, Giulio Turrisi, Claudio Semini
2025	J	`jnl`	Online Object-Level Semantic Mapping for Quadrupeds in Real-World Environments. CoRR Emad Razavi, Angelo Bratta, João Carlos Virgolino Soares, Carmine Recchiuto, Claudio Semini
2025	J	`jnl`	Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots. CoRR Lorenzo Amatucci, João Sousa Pinto, Giulio Turrisi, Dominique Orban, Victor Barasuol, Claudio Semini
2025	J	`jnl`	Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation Learning. CoRR Gabriel Fischer Abati, João Carlos Virgolino Soares, Giulio Turrisi, Victor Barasuol, Claudio Semini
2025	—	`conf`	RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation. ICAR Mattia Risiglione, Abdelrahman Abdalla, Victor Barasuol, Kim Tien Ly, Ioannis Havoutis, Claudio Semini
2025	J	`jnl`	RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation. CoRR Mattia Risiglione, Abdelrahman Abdalla, Victor Barasuol, Kim Tien Ly, Ioannis Havoutis, Claudio Semini
2025	A*	`conf`	SANDRO: A Robust Solver with a Splitting Strategy for Point Cloud Registration. ICRA Michael Adlerstein, João Carlos Virgolino Soares, Angelo Bratta, Claudio Semini
2025	J	`jnl`	SANDRO: a Robust Solver with a Splitting Strategy for Point Cloud Registration. CoRR Michael Adlerstein, João Carlos Virgolino Soares, Angelo Bratta, Claudio Semini
2025	J	`jnl`	Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes. CoRR Alberto Sánchez-Delgado, João Carlos Virgolino Soares, David Omar Al Tawil, Alessia Li Noce, Matteo Villa, Victor Barasuol, Paolo Arena, Claudio Semini
2025	J	`jnl`	Towards Proprioceptive Terrain Mapping with Quadruped Robots for Exploration in Planetary Permanently Shadowed Regions. CoRR Alberto Sánchez-Delgado, João Carlos Virgolino Soares, Victor Barasuol, Claudio Semini
2025	J	`jnl`	VAR-SLAM: Visual Adaptive and Robust SLAM for Dynamic Environments. CoRR João Carlos Virgolino Soares, Gabriel Fischer Abati, Claudio Semini
2024	—	`conf`	A Hybrid Force/Impedance Motion Controller for Robust Quadruped Locomotion on Sandy, Slippery, and Collapsing Terrains. CLAWAR (2) Alex T. Leonardi, Vivian Suzano Medeiros, Claudio Semini, Victor Barasuol
2024	A	`conf`	Accelerating Model Predictive Control for Legged Robots through Distributed Optimization. IROS Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini
2024	J	`jnl`	Accelerating Model Predictive Control for Legged Robots through Distributed Optimization. CoRR Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini
2024	—	`conf`	ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. UR Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini
2024	J	`jnl`	Creating a Segmented Pointcloud of Grapevines by Combining Multiple Viewpoints Through Visual Odometry. CoRR Michael Adlerstein, Angelo Bratta, João Carlos Virgolino Soares, Giovanni Dessy, Miguel Fernandes, Matteo Gatti, Claudio Semini
2024	—	`conf`	Design of a Container Mechanism for Trash Collection on Quadruped Robots. MESA Amir H. Rad, Matteo Villa, Angelo Bratta, Matteo Zoppi, Claudio Semini
2024	—	`conf`	Dynamics harmonic analysis of robotic systems: Application in data-driven Koopman modelling. L4DC Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil
2024	A*	`conf`	Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots. ICRA Victor Barasuol, Sinan Emre, Vivian Suzano Medeiros, Angelo Bratta, Claudio Semini
2024	A	`conf`	Leveraging Symmetry in RL-based Legged Locomotion Control. IROS Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
2024	J	`jnl`	Leveraging Symmetry in RL-based Legged Locomotion Control. CoRR Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
2024	J	`jnl`	Morphological Symmetries in Robotics. CoRR Daniel Felipe Ordoñez Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martín, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli
2024	J	`jnl`	Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning. CoRR Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv, Angela Dai, Victor Barasuol, Giulio Turrisi, Claudio Semini
2024	A	`conf`	On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion. IROS Giulio Turrisi, Valerio Modugno, Lorenzo Amatucci, Dimitrios Kanoulas, Claudio Semini
2024	J	`jnl`	On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion. CoRR Giulio Turrisi, Valerio Modugno, Lorenzo Amatucci, Dimitrios Kanoulas, Claudio Semini
2024	J	`jnl`	Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots. CoRR Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci
2024	A	`conf`	PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control. IROS Giulio Turrisi, Lucas Schulze, Vivian Suzano Medeiros, Claudio Semini, Victor Barasuol
2024	J	`jnl`	PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control. CoRR Giulio Turrisi, Lucas Schulze, Vivian Suzano Medeiros, Claudio Semini, Victor Barasuol
2024	—	`conf`	Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation. UR Gabriel Fischer Abati, João Carlos Virgolino Soares, Vivian Suzano Medeiros, Marco Antonio Meggiolaro, Claudio Semini
2024	J	`jnl`	Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation. CoRR Gabriel Fischer Abati, João Carlos Virgolino Soares, Vivian Suzano Medeiros, Marco Antonio Meggiolaro, Claudio Semini
2024	—	`conf`	Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions. Humanoids Hilton Marques Souza Santana, João Carlos Virgolino Soares, Ylenia Nisticò, Marco Antonio Meggiolaro, Claudio Semini
2024	J	`jnl`	Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions. CoRR Hilton Marques Souza Santana, João Carlos Virgolino Soares, Ylenia Nisticò, Marco Antonio Meggiolaro, Claudio Semini
2024	J	`jnl`	VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal. J. Field Robotics Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini
2023	J	`jnl`	An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion. IEEE Trans. Robotics Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini
2023	—	`conf`	Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots. ICARSC Lee Milburn, Juan D. Gamba, Miguel Fernandes, Claudio Semini
2023	J	`jnl`	Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots. CoRR Lee Milburn, Juan D. Gamba, Miguel Fernandes, Claudio Semini
2023	J	`jnl`	Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling. CoRR Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil
2023	J	`jnl`	Editorial: Robotics in extreme environments, volume II. Frontiers Robotics AI Chie Takahashi, Barry Lennox, Claudio Semini, Manuel Giuliani, Young Soo Park, William R. Hamel
2023	J	`jnl`	Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion. CoRR Shafeef Omar, Lorenzo Amatucci, Giulio Turrisi, Victor Barasuol, Claudio Semini
2023	A	`conf`	Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators. IROS Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol
2023	J	`jnl`	Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators. CoRR Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol
2023	—	`conf`	Locosim: An Open-Source Cross-Platform Robotics Framework. CLAWAR (2) Michele Focchi, Francesco Roscia, Claudio Semini
2023	J	`jnl`	Locosim: an Open-Source Cross-Platform Robotics Framework. CoRR Michele Focchi, Francesco Roscia, Claudio Semini
2023	J	`jnl`	Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots. Robotics Angelo Bratta, Michele Focchi, Niraj Rathod, Claudio Semini
2023	J	`jnl`	Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. Sensors Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
2023	A	`conf`	Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller. IROS Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, Sven Behnke
2023	J	`jnl`	Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller. CoRR Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, Sven Behnke
2023	J	`jnl`	Reactive Landing Controller for Quadruped Robots. CoRR Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini
2023	J	`jnl`	Reactive Landing Controller for Quadruped Robots. IEEE Robotics Autom. Lett. Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini
2023	—	`conf`	SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. Humanoids Shafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, Claudio Semini
2023	J	`jnl`	SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. CoRR Shafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, Claudio Semini
2023	—	`conf`	Stair-Climbing Charts: On the Optimal Body Height for Quadruped Robots to Walk on Stairs. CLAWAR (1) Victor Barasuol, Sinan Emre, Claudio Semini
2023	J	`jnl`	Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots. CoRR Lee Milburn, Juan D. Gamba, Claudio Semini
2023	J	`jnl`	ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots. IEEE Trans. Robotics Shamel Fahmi, Victor Barasuol, Domingo Esteban, Octavio Villarreal, Claudio Semini
2022	A	`conf`	A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators. IROS Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
2022	J	`jnl`	A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators. CoRR Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
2022	J	`jnl`	ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. CoRR Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini
2022	A*	`conf`	Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots. ICRA Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
2022	J	`jnl`	Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots. CoRR Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
2022	J	`jnl`	Governor: a Reference Generator for Nonlinear Model Predictive Control in Legged Robots. CoRR Angelo Bratta, Michele Focchi, Niraj Rathod, Mario Zanon, Alberto Bemporad, Claudio Semini
2022	J	`jnl`	On Slip Detection for Quadruped Robots. Sensors Ylenia Nisticò, Shamel Fahmi, Lucia Pallottino, Claudio Semini, Geoff Fink
2022	J	`jnl`	Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. CoRR Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
2022	J	`jnl`	ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots. CoRR Shamel Fahmi, Victor Barasuol, Domingo Esteban, Octavio Villarreal, Claudio Semini
2021	J	`jnl`	Editorial: Robotics in Extreme Environments. Frontiers Robotics AI Chie Takahashi, Manuel Giuliani, Barry Lennox, William R. Hamel, Rustam Stolkin, Claudio Semini
2021	J	`jnl`	Effect of compliance on morphological control of dynamic locomotion with HyQ. Auton. Robots Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels
2021	J	`jnl`	Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation. CoRR Miguel Fernandes, Antonello Scaldaferri, Giuseppe Fiameni, Tao Teng, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin G. Caldwell, Fei Chen
2021	J	`jnl`	Mobility-enhanced MPC for Legged Locomotion on Rough Terrain. CoRR Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad
2021	J	`jnl`	Model Predictive Control With Environment Adaptation for Legged Locomotion. IEEE Access Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad
2021	J	`jnl`	On State Estimation for Legged Locomotion over Soft Terrain. CoRR Shamel Fahmi, Geoff Fink, Claudio Semini
2021	J	`jnl`	Towards Precise Pruning Points Detection using Semantic-Instance-Aware Plant Models for Grapevine Winter Pruning Automation. CoRR Miguel Fernandes, Antonello Scaldaferri, Paolo Guadagna, Giuseppe Fiameni, Tao Teng, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin G. Caldwell, Fei Chen
2021	J	`jnl`	Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation. CoRR Tao Teng, Miguel Fernandes, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin G. Caldwell, Fei Chen
2020	J	`jnl`	A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots. Frontiers Robotics AI Gennaro Raiola, Enrico Mingo Hoffman, Michele Focchi, Nikos G. Tsagarakis, Claudio Semini
2020	J	`jnl`	An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion. CoRR Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini
2020	J	`jnl`	Feasible Region: An Actuation-Aware Extension of the Support Region. IEEE Trans. Robotics Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
2020	—	`ch.`	Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. ECHORD++ Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini
2020	A	`conf`	Line Walking and Balancing for Legged Robots with Point Feet. IROS Carlos Gonzalez, Victor Barasuol, Marco Frigerio, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
2020	J	`jnl`	Line Walking and Balancing for Legged Robots with Point Feet. CoRR Carlos Gonzalez, Victor Barasuol, Marco Frigerio, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
2020	A*	`conf`	MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. ICRA Octavio Villarreal, Victor Barasuol, Patrick M. Wensing, Darwin G. Caldwell, Claudio Semini
2020	J	`jnl`	Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control. CoRR Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2020	J	`jnl`	Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control. IEEE Trans. Robotics Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2020	A*	`conf`	On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics. ICRA Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
2020	A	`conf`	Proprioceptive Sensor Fusion for Quadruped Robot State Estimation. IROS Geoff Fink, Claudio Semini
2020	J	`jnl`	STANCE: Locomotion Adaptation Over Soft Terrain. IEEE Trans. Robotics Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini
2020	A*	`conf`	Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot. ICRA Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels
2020	J	`jnl`	Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot. CoRR Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels
2019	—	`conf`	A Factor Graph Approach to Multi-camera Extrinsic Calibration on Legged Robots. IRC Andrzej Reinke, Marco Camurri, Claudio Semini
2019	J	`jnl`	Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs. IEEE Robotics Autom. Lett. Octavio Antonio Villarreal-Magaña, Victor Barasuol, Marco Camurri, Luca Franceschi, Michele Focchi, Massimiliano Pontil, Darwin G. Caldwell, Claudio Semini
2019	J	`jnl`	Feasible Region: an Actuation-Aware Extension of the Support Region. CoRR Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Claudio Semini
2019	J	`jnl`	Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences. CoRR Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2019	J	`jnl`	MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. CoRR Octavio Antonio Villarreal-Magaña, Victor Barasuol, Patrick M. Wensing, Claudio Semini
2019	J	`jnl`	On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics. CoRR Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
2019	J	`jnl`	On-line and on-board planning and perception for quadrupedal locomotion. CoRR Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
2019	J	`jnl`	Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain. IEEE Robotics Autom. Lett. Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini
2019	J	`jnl`	Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain. CoRR Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2019	J	`jnl`	STANCE: Locomotion Adaptation over Soft Terrain. CoRR Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini
2019	J	`jnl`	Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization. CoRR Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini
2018	J	`jnl`	A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots. CoRR Andrzej Reinke, Marco Camurri, Claudio Semini
2018	J	`jnl`	Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots. IEEE Robotics Autom. Lett. Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini
2018	J	`jnl`	Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks. CoRR Octavio Antonio Villarreal-Magaña, Victor Barasuol, Marco Camurri, Michele Focchi, Luca Franceschi, Massimiliano Pontil, Darwin G. Caldwell, Claudio Semini
2018	J	`jnl`	Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. CoRR Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini
2018	J	`jnl`	Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control. Frontiers Robotics AI Victor Barasuol, Octavio Antonio Villarreal-Magaña, Dhinesh Sangiah, Marco Frigerio, Mike Baker, Robert Morgan, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Claudio Semini
2018	J	`jnl`	Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain. CoRR Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini
2018	J	`jnl`	Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization. IEEE Robotics Autom. Lett. Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini
2018	J	`jnl`	Special Issue on 'New Hydraulic Components for Tough Robots'. Adv. Robotics Koichi Suzumori, Sang-Ho Hyon, Claudio Semini, Jouni Mattila, Takefumi Kanda
2017	J	`jnl`	A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes. CoRR Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini
2017	J	`jnl`	Active camera stabilization to enhance the vision of agile legged robots. Robotica Stéphane Bazeille, Jesús Ortiz, Francesco Rovida, Marco Camurri, Anis Meguenani, Darwin G. Caldwell, Claudio Semini
2017	J	`jnl`	Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation. CoRR Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli
2017	J	`jnl`	Automatic differentiation of rigid body dynamics for optimal control and estimation. Adv. Robotics Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli
2017	J	`jnl`	Bringing Together Researchers in Robot Mechanisms and Design [TC Spotlight]. IEEE Robotics Autom. Mag. Aaron M. Dollar, Claudio Semini, Kyujin Cho, Matei T. Ciocarlie
2017	—	`conf`	Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots. Robotics: Science and Systems Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin G. Caldwell, Claudio Semini, Maurice F. Fallon
2017	J	`jnl`	High-slope terrain locomotion for torque-controlled quadruped robots. Auton. Robots Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
2017	—	`conf`	Kinematic design of a configurable terrain simulator platform for robotic legs. ICARM Yifu Gao, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
2017	—	`conf`	Learning optimal gait parameters and impedance profiles for legged locomotion. Humanoids Elco Heijmink, Andreea Radulescu, Brahayam Ponton, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
2017	A	`conf`	Online payload identification for quadruped robots. IROS Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini
2017	J	`jnl`	Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots. IEEE Robotics Autom. Lett. Marco Camurri, Maurice F. Fallon, Stéphane Bazeille, Andreea Radulescu, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
2017	J	`jnl`	The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP). CoRR Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini
2017	J	`jnl`	Towards Scalable Strain Gauge-Based Joint Torque Sensors. Sensors Hamza Khan, Mariapaola D'Imperio, Ferdinando Cannella, Darwin G. Caldwell, Alfred Cuschieri, Claudio Semini
2017	A*	`conf`	Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion. ICRA Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin G. Caldwell, Claudio Semini
2017	A	`conf`	Viscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain. IROS Michele Focchi, Roy Featherstone, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini
2017	A*	`conf`	Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems. ICRA Andreea Radulescu, Ioannis Havoutis, Darwin G. Caldwell, Claudio Semini
2016	—	`conf`	A design method of a robust controller for hydraulic actuation with disturbance observers. AMC Hiroaki Kuwahara, Fujio Terai, Michele Focchi, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Claudio Semini
2016	—	`conf`	Fast derivatives of rigid body dynamics for control, optimization and estimation. SIMPAR Michael Neunert, Markus Giftthaler, Marco Frigerio, Claudio Semini, Jonas Buchli
2016	A*	`conf`	Hierarchical planning of dynamic movements without scheduled contact sequences. ICRA Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2016	—	`conf`	Study on the morphological parameters of quadruped robot designs considering ditch traversability. ROBIO Yifu Gao, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
2016	A*	`conf`	Towards a multi-legged mobile manipulator. ICRA Bilal Ur Rehman, Michele Focchi, Jinoh Lee, Houman Dallali, Darwin G. Caldwell, Claudio Semini
2016	J	`jnl`	Validation of computer simulations of the HyQ robot. CoRR Marco Frigerio, Victor Barasuol, Michele Focchi, Claudio Semini
2015	—	`conf`	Active compliance hybrid zero dynamics control of bounding on HyQ. ROBIO Xin Liu, Claudio Semini, Ioannis Poulakakis
2015	—	`conf`	Additive manufacturing for agile legged robots with hydraulic actuation. ICAR Claudio Semini, Jake Goldsmith, Diego Manfredi, Flaviana Calignano, Elisa Paola Ambrosio, Jukka Pakkanen, Darwin G. Caldwell
2015	—	`conf`	Bio-inspired knee joint mechanism for a hydraulic quadruped robot. ICARA Hamza Khan, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
2015	—	`conf`	Development of the lightweight hydraulic quadruped robot - MiniHyQ. TePRA Hamza Khan, Satoshi Kitano, Marco Frigerio, Marco Camurri, Victor Barasuol, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
2015	J	`jnl`	Model-Based Hydraulic Impedance Control for Dynamic Robots. IEEE Trans. Robotics Thiago Boaventura Cunha, Jonas Buchli, Claudio Semini, Darwin G. Caldwell
2015	—	`conf`	On-line and on-board planning and perception for quadrupedal locomotion. TePRA Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
2015	J	`jnl`	Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ. Auton. Robots Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Kana Kayamori, Darwin G. Caldwell, Tatsuo Narikiyo
2015	A*	`conf`	Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. ICRA Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2015	A	`conf`	Reactive trotting with foot placement corrections through visual pattern classification. IROS Victor Barasuol, Marco Camurri, Stéphane Bazeille, Darwin G. Caldwell, Claudio Semini
2015	—	`conf`	Real-time depth and inertial fusion for local SLAM on dynamic legged robots. MFI Marco Camurri, Stéphane Bazeille, Darwin G. Caldwell, Claudio Semini
2015	—	`conf`	Slip Detection and Recovery for Quadruped Robots. ISRR (2) Michele Focchi, Victor Barasuol, Marco Frigerio, Darwin G. Caldwell, Claudio Semini
2015	J	`jnl`	Towards versatile legged robots through active impedance control. Int. J. Robotics Res. Claudio Semini, Victor Barasuol, Thiago Boaventura Cunha, Marco Frigerio, Michele Focchi, Darwin G. Caldwell, Jonas Buchli
2014	—	`conf`	Modelling Legged Robot Multi-Body Dynamics Using Hierarchical Virtual Prototype Design. Living Machines Mariapaola D'Imperio, Ferdinando Cannella, Fei Chen, Daniele Catelani, Claudio Semini, Darwin G. Caldwell
2014	A*	`conf`	Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots. ICRA Alexander W. Winkler, Ioannis Havoutis, Stéphane Bazeille, Jesús Ortiz, Michele Focchi, Rüdiger Dillmann, Darwin G. Caldwell, Claudio Semini
2014	J	`jnl`	Quadruped robot trotting over irregular terrain assisted by stereo-vision. Intell. Serv. Robotics Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell, Claudio Semini
2014	J	`jnl`	Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops. CoRR Michele Focchi, Gustavo A. Medrano-Cerda, Thiago Boaventura Cunha, Marco Frigerio, Claudio Semini, Jonas Buchli, Darwin G. Caldwell
2013	—	`conf`	A comparison of search-based planners for a legged robot. RoMoCo Muhammad Asif Arain, Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell
2013	A*	`conf`	A reactive controller framework for quadrupedal locomotion on challenging terrain. ICRA Victor Barasuol, Jonas Buchli, Claudio Semini, Marco Frigerio, Edson R. de Pieri, Darwin G. Caldwell
2013	—	`conf`	AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots. SSRR Marco Hutter, Michael Blösch, Jonas Buchli, Claudio Semini, Stéphane Bazeille, Ludovic Righetti, Jeannette Bohg
2013	A	`conf`	Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control. IROS Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Darwin G. Caldwell
2013	C	`conf`	Is Active Impedance the Key to a Breakthrough for Legged Robots? ISRR Claudio Semini, Victor Barasuol, Thiago Boaventura Cunha, Marco Frigerio, Jonas Buchli
2013	A	`conf`	Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ). IROS Ioannis Havoutis, Jesús Ortiz, Stéphane Bazeille, Victor Barasuol, Claudio Semini, Darwin G. Caldwell
2013	—	`conf`	Quadrupedal trotting with active compliance. ICM Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell
2013	A	`conf`	Stability and performance of the compliance controller of the quadruped robot HyQ. IROS Thiago Boaventura Cunha, Gustavo A. Medrano-Cerda, Claudio Semini, Jonas Buchli, Darwin G. Caldwell
2013	—	`conf`	Vision enhanced reactive locomotion control for trotting on rough terrain. TePRA Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Claudio Semini, Darwin G. Caldwell
2012	A*	`conf`	Dynamic torque control of a hydraulic quadruped robot. ICRA Thiago Boaventura Cunha, Claudio Semini, Jonas Buchli, Marco Frigerio, Michele Focchi, Darwin G. Caldwell
2012	A	`conf`	On the role of load motion compensation in high-performance force control. IROS Thiago Boaventura Cunha, Michele Focchi, Marco Frigerio, Jonas Buchli, Claudio Semini, Gustavo A. Medrano-Cerda, Darwin G. Caldwell
2012	—	`conf`	Torque-control based compliant actuation of a quadruped robot. AMC Michele Focchi, Thiago Boaventura, Claudio Semini, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell
2010	A	`conf`	A 3-way valve-controlled spring assisted rotary actuator. IROS Yousheng Yang, Emanuele Guglielmino, Claudio Semini, Jian S. Dai, Darwin G. Caldwell
2010	A*	`conf`	Control of a hydraulically-actuated quadruped robot leg. ICRA Michele Focchi, Emanuele Guglielmino, Claudio Semini, Thiago Boaventura Cunha, Yousheng Yang, Darwin G. Caldwell
2010	A	`conf`	Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot. IROS Claudio Semini, Nikolaos G. Tsagarakis, Emanuele Guglielmino, Darwin G. Caldwell
2010	A	`conf`	Power hydraulics - switched mode control of hydraulic actuation. IROS Emanuele Guglielmino, Claudio Semini, Helmut Kogler, Rudolf Scheidl, Darwin G. Caldwell
2010	A	`conf`	Water/air performance analysis of a fluidic muscle. IROS Michele Focchi, Emanuele Guglielmino, Claudio Semini, Alberto Parmiggiani, Nikolaos G. Tsagarakis, Bram Vanderborght, Darwin G. Caldwell
2009	A	`conf`	Leg mechanisms for hydraulically actuated robots. IROS Yousheng Yang, Claudio Semini, Nikolaos G. Tsagarakis, Emanuele Guglielmino, Darwin G. Caldwell
2009	A*	`conf`	MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping. ICRA Bram Vanderborght, Nikolaos G. Tsagarakis, Claudio Semini, Ronald Van Ham, Darwin G. Caldwell