Michele Focchi

71 papers A* 10A 4Journal 49Unranked 7
YearRankTypeTitle / Venue / Authors
2026 J jnl
Pseudo-kinematic trajectory control and planning of tracked vehicles.
Robotics Auton. Syst.
Michele Focchi, Daniele Fontanelli, Davide Stocco, Riccardo Bussola, Luigi Palopoli
2025 J jnl
ALPINE: A climbing robot for operations in mountain environments.
Robotics Auton. Syst.
Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Marco Frego, Angelika Peer, Luigi Palopoli
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 J jnl
Smooth Human-Robot Shared Control for Autonomous Orchard Monitoring With UGVs.
IEEE Trans Autom. Sci. Eng.
Cheikh Melainine El Bou, Michele Focchi, Michael R. Chang, Marco Camurri, Karl D. von Ellenrieder
2024 J jnl
ALPINE: a climbing robot for operations in mountain environments.
CoRR
Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Marco Frego, Angelika Peer, Luigi Palopoli
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
Efficient Reinforcement Learning for 3D Jumping Monopods.
Sensors
Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
2024 J jnl
Pseudo-kinematic trajectory control of tracked vehicles.
CoRR
Michele Focchi, Daniele Fontanelli, Luigi Palopoli
2023 J jnl
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion.
IEEE Trans. Robotics
Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini
2023 A* conf
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments.
ICRA
Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli
2023 J jnl
Efficient Reinforcement Learning for Jumping Monopods.
CoRR
Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
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 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
2022 J jnl
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments.
CoRR
Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli
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
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots.
CoRR
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
2022 J jnl
WoLF: the Whole-body Locomotion Framework for Quadruped Robots.
CoRR
Gennaro Raiola, Michele Focchi, Enrico Mingo Hoffman
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
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
Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots.
Frontiers Robotics AI
Michele Focchi, Daniele Pucci, Andrea Del Prete
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 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 J jnl
STANCE: Locomotion Adaptation Over Soft Terrain.
IEEE Trans. Robotics
Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, 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
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
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
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
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
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 — 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 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
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 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
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 A* conf
Hierarchical planning of dynamic movements without scheduled contact sequences.
ICRA
Carlos Mastalli, Ioannis Havoutis, Michele Focchi, 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 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 — 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 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
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
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
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