Publications

You can download a bibtex file containing all our publications here

International Journal Papers

2020

R. Orsolino, M. Focchi, C. Stéphane, G. Raiola, V. Barasuol, D.G. Caldwell and C. Semini, Feasible Region: an Actuation-Aware Extension of the Support Region Full paper - Video - BIBTEX Citation IEEE Transactions on Robotics (T-RO), Aug. 2020 View at publisher ARTICLE{orsolino19tro,

AUTHOR = {Orsolino, Romeo and Focchi, Michele and Caron Stéphane and Raiola, Gennaro and Barasuol, Victor and Darwin G. Caldwell and Semini, Claudio},

TITLE = {Feasible Region: an Actuation-Aware Extension of the Support Region},

JOURNAL = {{IEEE Transactions on Robotics (T-RO)}},

YEAR = {2020},

MONTH = {Aug.},

VOLUME = {36},

NUMBER = {4},

PAGES = {1239 - 1255},

}

C. Mastalli, I. Havoutis, D. G. Caldwell, C. Semini, Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control Full paper - Video - BIBTEX Citation IEEE Transactions on Robotics (T-RO), 2020.- View at publisher @Article{Mastalli2020TRO,

Title = {Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control},

Author = {C. {Mastalli} and I. {Havoutis} and M. {Focchi} and D. G. {Caldwell} and C. {Semini}},

Journal = {{IEEE} Trans. Robot. ({T-RO})},

Year = {2020},

Pages = {1--14},

}

M. Focchi, R. Orsolino, M. Camurri, V. Barasuol, C. Mastalli, D. G. Caldwell, C. Semini, Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality Full paper - Video - BIBTEX Citation Springer Tracts in Advanced Robotics (STAR), 2020 - View at publisher @Inbook{Focchi2020, author={"Focchi, Michele and Orsolino, Romeo and Camurri, Marco and Barasuol, Victor and Mastalli, Carlos and Caldwell, Darwin G. and Semini, Claudio"},

title={Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality},

bookTitle={Advances in Robotics Research: From Lab to Market: ECHORD++: Robotic Science Supporting Innovation},

year={2020},

publisher= {Springer International Publishing},

pages={165--209},

isbn={978-3-030-22327-4},

doi={10.1007/978-3-030-22327-4_9},

url={https://doi.org/10.1007/978-3-030-22327-4_9}

}

2019

STANCE: Locomotion Adaptation over Soft Terrain,"

IEEE Transactions on Robotics (T-RO), Oct. 2019.

Full paper - View at publisher - Blog - Video - BIBTEX Citation S. Fahmi, M. Focchi, A. Radulescu, G. Fink, V. Barasuol, and C. Semini, ","IEEE Transactions on Robotics (T-RO), Oct. 2019. @Article{Fahmi2019TRO,

Title = {{STANCE}: Locomotion Adaptation over Soft Terrain},

Author = {S. {Fahmi} and M. {Focchi} and A. {Radulescu} and G. {Fink} and V. {Barasuol} and C. {Semini}},

Journal = {{IEEE} Trans. Robot. ({T-RO})},

Year = {2019},

Month = {Oct.},

Pages = {1--15},

}

S. Fahmi, C. Mastalli, M. Focchi, C. Semini, "Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain,"

Full paper - View at publisher - Blog - Video - BIBTEX Citation IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 3, pp. 2553–2560, Jul. 2019, DOI:10.1109/LRA.2019.2908502. @Article{Fahmi2019RAL,

Title = {Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain},

Author = {S. {Fahmi} and C. {Mastalli} and M. {Focchi} and C. {Semini}},

Journal = {{IEEE} Robot. Automat. Lett. ({RA-L})},

Year = {2019},

Month = {Jul.},

Number = {3},

Pages = {2553--2560},

Volume = {4},

Doi = {10.1109/LRA.2019.2908502},

}

O. Villarreal, V. Barasuol, M. Camurri, L. Franceschi, M. Focchi, M. Pontil, D. G. Caldwell, C. Semini, Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs Full paper - Video - BIBTEX Citation IEEE Robotics and Automation Letters, 1-1, 2019, View at publisher @ARTICLE{villarreal19ral,

AUTHOR = {Villarreal, Octavio and Barasuol, Victor and Camurri, Marco and Franceschi, Luca and Focchi, Michele and Pontil, Massimiliano and Caldwell, Darwin Gordon and Semini, Claudio},

JOURNAL = {IEEE Robotics and Automation Letters},

TITLE = {Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs},

YEAR = {2019},

VOLUME = {},

NUMBER = {},

PAGES = {1-1},

KEYWORDS = {Legged locomotion;Robot sensing systems;Foot;Visualization;Trajectory;Legged Robots;Reactive and Sensor-Based Planning;Deep Learning in Robotics and Automation},

DOI = {10.1109/LRA.2019.2899434},

ISSN = {2377-3766},

MONTH = {},

}

2018

V. Barasuol, O. A. Villarreal-Magaña, D. Sangiah, M. Frigerio, M. Baker, R. Morgan, G. A. Medrano-Cerda, D. G. Caldwell, C. Semini, Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control BIBTEX Citation Frontiers in Robotics and AI, 51, 2018, View at publisher @ARTICLE{frontiers18barasuol,

AUTHOR = {Barasuol, Victor and Villarreal-Magaña, Octavio A. and Sangiah, Dhinesh and Frigerio, Marco and Baker, Mike and Morgan, Robert and Medrano-Cerda, Gustavo A. and Caldwell, Darwin Gordon and Semini, Claudio},

TITLE = {Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control},

JOURNAL = {Frontiers in Robotics and AI},

VOLUME = {5},

PAGES = {51},

YEAR = {2018},

URL = {https://www.frontiersin.org/article/10.3389/frobt.2018.00051},

DOI = {10.3389/frobt.2018.00051},

ISSN = {2296-9144},

}

R. Orsolino, M. Focchi, C. Mastalli, H. Dai, G. D. Caldwell, C. Semini, Application of Wrench Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots Full paper - Video - BIBTEX Citation IEEE Robotics and Automation Letters, 2018, View at publisher @ARTICLE{orsolino18ral,

AUTHOR = {Orsolino, Romeo and Focchi, Michele and Mastalli, Carlos and Dai, Hongkai and Caldwell, G. D. and Semini, Claudio},

TITLE = {Application of Wrench Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots},

BOOKTITLE = {IEEE Robotics and Automation Letters},

YEAR = {2018},

DOI = {10.1109/LRA.2018.2836441},

}

G. Raiola, C. A. Cardenas, T. S. Tadele, T. De Vries, S. Stramigioli, Development of a Safety and Energy Aware Impedance Controller for Collaborative Robots Full paper - Video - BIBTEX Citation IEEE Robotics and Automation Letters, 2018, View at publisher @ARTICLE{raiola18ral,

AUTHOR = {G. Raiola and C. A. Cardenas and T. S. Tadele and T. De Vries and S. Stramigioli},

TITLE = {Development of a Safety and Energy Aware Impedance Controller for Collaborative Robots},

BOOKTITLE = {IEEE Robotics and Automation Letters},

DOI = {10.1109/LRA.2018.2795639},

YEAR = {2018},

}

2017

B. Aceituno-Cabezas, C. Mastalli, H. Dai, M. Focchi, A. Radulescu, D. G. Caldwell, Cappelletto J., J. C. Grieco, Fernandez-Lopez G., C. Semini, Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization Full paper - Video - BIBTEX Citation IEEE Robotics and Automation Letters, 2017, View at publisher @ARTICLE{aceituno_mastalli17ral,

AUTHOR = {Aceituno-Cabezas, Bernardo and Mastalli, Carlos and Dai, Hongkai and Focchi, Michele and Radulescu, Andreea and Caldwell, Dawrin G. and Cappelletto J. and Grieco, J. C. and Fernandez-Lopez G. and Semini, Claudio},

BOOKTITLE = {IEEE Robotics and Automation Letters},

TITLE = {Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization},

DOI = {10.1109/LRA.2017.2779821},

YEAR = {2017},

}

S. Chitta, E. Marder-Eppstein, W. Meeussen, V. Pradeep, A. Rodriguez Tsouroukdissian, J. Bohren, D. Coleman, B. Magyar, G. Raiola, M. Luedtke, E. Fernandez Perdomo, ros_control: A generic and simple control framework for ROS Full paper - BIBTEX Citation The Journal of Open Source Software, 2017, View at publisher @ARTICLE{raiola17joss,

AUTHOR = {Chitta, Sachin and Marder-Eppstein, Eitan and Meeussen, Wim and Pradeep, Vijay and Rodriguez Tsouroukdissian, Adolfo and Bohren, Jonathan and Coleman, David and Magyar, Bence and Raiola, Gennaro and Luedtke, Mathias and Fernandez Perdomo, Enrique},

BOOKTITLE = {The Journal of Open Source Software},

TITLE = {ros_control: A generic and simple control framework for ROS},

YEAR = {2017},

DOI = {10.21105/joss.00456},

}

M. Giftthaler, M. Neunert, M. Staeuble, M. Frigerio, C. Semini, J. Buchli, Automatic differentiation of rigid body dynamics for optimal control and estimation BIBTEX Citation Advanced Robotics, 1-13, 2017, View at publisher @ARTICLE{giftthaler17advr,

AUTHOR = {Giftthaler, Markus and Neunert, Micheal and Staeuble, Markus and Frigerio, Marco and Semini, Claudio and Buchli, Jonas},

BOOKTITLE = {Advanced Robotics},

TITLE = {Automatic differentiation of rigid body dynamics for optimal control and estimation},

VOLUME = {0},

NUMBER = {0},

PAGES = {1-13},

YEAR = {2017},

PUBLISHER = {Taylor & Francis},

URL = {http://dx.doi.org/10.1080/01691864.2017.1395361},

DOI = {10.1080/01691864.2017.1395361},

}

H. Khan, M. D'Imperio, F. Cannella, D. G. Caldwell, A. Cuschieri, C. Semini, Towards Scalable Strain Gauge-Based Joint Torque Sensors Full paper - BIBTEX Citation Sensors, 2017, View at publisher @ARTICLE{khan17sensors,

AUTHOR = {Khan, Hamza and D'Imperio, Mariapaola and Cannella, Ferdinando and Caldwell, Darwin G. and Cuschieri, Alfred and Semini, Claudio},

BOOKTITLE = {Sensors},

TITLE = {Towards Scalable Strain Gauge-Based Joint Torque Sensors},

YEAR = {2017},

DOI = {10.3390/s17081905},

}

A. Dollar, C. Semini, K. Cho, Ciocarlie M., Bringing Together Researchers in Robot Mechanisms and Design BIBTEX Citation IEEE Robotics and Automation Magazine, 2017, View at publisher @ARTICLE{dollar17ram,

AUTHOR = {Dollar, A. and Semini, C. and Cho, K. and Ciocarlie M.},

BOOKTITLE = {IEEE Robotics and Automation Magazine},

TITLE = {Bringing Together Researchers in Robot Mechanisms and Design},

YEAR = {2017},

DOI = {10.1109/MRA.2016.2646069},

}

J. Mattila, C. Semini, H. Moon, J. H. Buchli, P. Li, B. Yao, Guest editorial introduction to the focused section on design andcontrol of hydraulic robots BIBTEX Citation IEEE/ASME Transactions on Mechatronics, 2017, View at publisher @ARTICLE{mattila17asme-tmech,

AUTHOR = {Mattila, J. and Semini, C. and Moon, H. and Buchli, J.and Hyon, S. and Li, P.Y. and Yao, B.},

BOOKTITLE = {IEEE/ASME Transactions on Mechatronics},

TITLE = {Guest editorial introduction to the focused section on design andcontrol of hydraulic robots},

YEAR = {2017},

DOI = {10.1109/TMECH.2017.2668611},

URL = {http://dx.doi.org/10.1109/TMECH.2017.2668611},

}

J. Mattila, J. Koivumaki, D. G. Caldwell, C. Semini, A Survey on Control of Hydraulic Robotic Manipulators with Projection to Future Trends Full paper - BIBTEX Citation IEEE/ASME Transactions on Mechatronics, 1-1, 2017, View at publisher @ARTICLE{mattila17tmech,

AUTHOR = {Mattila, Jouni and Koivumaki, Janne and Caldwell, Darwin G. and Semini, Claudio},

JOURNAL = {IEEE/ASME Transactions on Mechatronics},

TITLE = {A Survey on Control of Hydraulic Robotic Manipulators with Projection to Future Trends},

YEAR = {2017},

VOLUME = {PP},

NUMBER = {99},

PAGES = {1-1},

KEYWORDS = {Actuators;Legged locomotion;Manipulators;Service robots;Stability analysis;force control;hydraulic manipulators;motion control;performance evaluation;robotics},

DOI = {10.1109/TMECH.2017.2668604},

ISSN = {1083-4435},

MONTH = {},

}

M. Camurri, M. Fallon, S. Bazeille, A. Radulescu, V. Barasuol, D. G. Caldwell, C. Semini, Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots Full paper - BIBTEX Citation IEEE Robotics and Automation Letters, 1023-1030, 2017, View at publisher @ARTICLE{camurri17ral,

AUTHOR = {M. Camurri and M. Fallon and S. Bazeille and A. Radulescu and V. Barasuol and D. G. Caldwell and C. Semini},

JOURNAL = {IEEE Robotics and Automation Letters},

TITLE = {Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots},

YEAR = {2017},

VOLUME = {2},

NUMBER = {2},

PAGES = {1023-1030},

KEYWORDS = {Estimation;Foot;Legged locomotion;Robot kinematics;Robot sensing systems;Localization;multilegged robots;sensor fusion},

DOI = {10.1109/LRA.2017.2652491},

ISSN = {2377-3766},

MONTH = {April},

}

M. Focchi, A. del Prete, I. Havoutis, R. Featherstone, D. G. Caldwell, C. Semini, High-slope terrain locomotion for torque-controlled quadruped robots Full paper - BIBTEX Citation Autonomous Robots, 259-272, 2017, View at publisher @ARTICLE{focchi2016,

AUTHOR = {Focchi, Michele and del Prete, Andrea and Havoutis, Ioannis and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {High-slope terrain locomotion for torque-controlled quadruped robots},

JOURNAL = {Autonomous Robots},

YEAR = {2017},

VOLUME = {41},

NUMBER = {1},

PAGES = {259-272},

DOI = {10.1007/s10514-016-9573-1},

URL = {http://dx.doi.org/10.1007/s10514-016-9573-1},

ISSN = {1083-4435},

}

2016

C. Semini, V. Barasuol, J. Goldsmith, M. Frigerio, M. Focchi, Y. Gao, D. G. Caldwell, Design of the Hydraulically-Actuated, Torque-Controlled Quadruped Robot HyQ2Max Full paper - BIBTEX Citation IEEE/ASME Transactions on Mechatronics, 1-1, 2016, View at publisher @ARTICLE{tmech16semini,

AUTHOR = {Semini, Claudio and Barasuol, Victor and Goldsmith, Jake and Frigerio, Marco and Focchi, Michele and Gao, Yifu and Caldwell, Darwin G.},

JOURNAL = {IEEE/ASME Transactions on Mechatronics},

TITLE = {Design of the Hydraulically-Actuated, Torque-Controlled Quadruped Robot HyQ2Max},

YEAR = {2016},

VOLUME = {PP},

NUMBER = {99},

PAGES = {1-1},

KEYWORDS = {Actuators;Biological system modeling;Couplings;Legged locomotion;Mechatronics;Vehicle dynamics},

DOI = {10.1109/TMECH.2016.2616284},

ISSN = {1083-4435},

}

M. Frigerio, J. Buchli, D. G. Caldwell, C. Semini, RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages Full paper - BIBTEX Citation Journal of Software Engineering for Robotics (JOSER), 36--54, 2016, View at publisher @ARTICLE{frigerio2016robcogen,

AUTHOR = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio },

TITLE = {RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages},

JOURNAL = {Journal of Software Engineering for Robotics (JOSER)},

YEAR = {2016},

DATE = {July},

VOLUME = {7},

NUMBER = {1},

ISSUE = {Special Issue on Domain-Specific Languages and Models for Robotic Systems},

PAGES = {36--54},

URL = {http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%5D=98},

}

M. Focchi, G. A. Medrano-Cerda, T. Boaventura, M. Frigerio, C. Semini, J. Buchli, D. G. Caldwell, Robot impedance control and passivity analysis with inner torque and velocity feedback loops Full paper - BIBTEX Citation Control Theory and Technology, 2016, View at publisher @ARTICLE{focchi16ctt,

AUTHOR = {Focchi, Michele and Medrano-Cerda, Gustavo A. and Boaventura, Thiago and Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.},

TITLE = {Robot impedance control and passivity analysis with inner torque and velocity feedback loops},

JOURNAL = {Control Theory and Technology},

YEAR = {2016},

ISSN = {2198-0942},

DOI = {10.1007/s11768-016-5015-z},

URL = {http://dx.doi.org/10.1007/s11768-016-5015-z},

}

2015

T. Boaventura, J. Buchli, C. Semini, D. Caldwell, Model-Based Hydraulic Impedance Control for Dynamic Robots Full paper - BIBTEX Citation Robotics, IEEE Transactions on, 1324-1336, 2015, View at publisher @ARTICLE{boaventura15tro,

AUTHOR = {Boaventura, T. and Buchli, J. and Semini, C. and Caldwell, D.G.},

JOURNAL = {Robotics, IEEE Transactions on},

TITLE = {Model-Based Hydraulic Impedance Control for Dynamic Robots},

YEAR = {2015},

VOLUME = {31},

NUMBER = {6},

PAGES = {1324-1336},

KEYWORDS = {Dynamics;Force control;Hydraulic actuators;Impedance;Legged locomotion;Force control;hydraulics;impedance control;legged robots},

DOI = {10.1109/TRO.2015.2482061},

ISSN = {1552-3098},

MONTH = {Dec},

}

H. Dallali, G. A. Medrano-Cerda, M. Focchi, T. Boaventura, M. Frigerio, C. Semini, J. Buchli, D. Caldwell, On the use of positive feedback for improved torque control Full paper - BIBTEX Citation Control Theory and Technology, 266-285, 2015, View at publisher @ARTICLE{dallali15ctt,

YEAR = {2015},

ISSN = {2095-6983},

JOURNAL = {Control Theory and Technology},

VOLUME = {13},

NUMBER = {3},

DOI = {10.1007/s11768-015-4146-y},

TITLE = {On the use of positive feedback for improved torque control},

URL = {http://dx.doi.org/10.1007/s11768-015-4146-y},

PUBLISHER = {South China University of Technology and Academy of Mathematics and Systems Science, CAS},

KEYWORDS = {Force-torque control; load motion compensation; decentralized control},

AUTHOR = {Dallali, Houman and Medrano-Cerda, Gustavo A. and Focchi, Michele and Boaventura, Thiago and Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, DarwinG.},

PAGES = {266-285},

LANGUAGE = {English},

}

B. Ugurlu, I. Havoutis, C. Semini, K. Kayamori, D. Caldwell, T. Narikiyo, Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ Full paper - BIBTEX Citation Autonomous Robots, 415-437, 2015, View at publisher @ARTICLE{ugurlu15ar,

YEAR = {2015},

ISSN = {0929-5593},

JOURNAL = {Autonomous Robots},

VOLUME = {38},

NUMBER = {4},

DOI = {10.1007/s10514-015-9422-7},

TITLE = {Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ},

PUBLISHER = {Springer US},

KEYWORDS = {Quadrupedal locomotion; Dynamic trot-walking; Active compliance; Pattern generation},

AUTHOR = {Ugurlu, Barkan and Havoutis, Ioannis and Semini, Claudio and Kayamori, Kana and Caldwell, DarwinG. and Narikiyo, Tatsuo},

PAGES = {415-437},

LANGUAGE = {English},

}

S. Bazeille, J. Ortiz, F. Rovida, M. Camurri, A. Meguenani, D. G. Caldwell, C. Semini, Active camera stabilization to enhance the vision of agile legged robots Full paper - BIBTEX Citation Robotica, 1--19, 2015, View at publisher @ARTICLE{bazeille15robo,

AUTHOR = {Bazeille,Stéphane and Ortiz,Jesus and Rovida,Francesco and Camurri,Marco and Meguenani,Anis and Caldwell,Darwin G. and Semini,Claudio},

TITLE = {Active camera stabilization to enhance the vision of agile legged robots},

JOURNAL = {Robotica},

VOLUME = {FirstView},

MONTH = {11},

YEAR = {2015},

ISSN = {1469-8668},

PAGES = {1--19},

NUMPAGES = {19},

DOI = {10.1017/S0263574715000909},

URL = {http://journals.cambridge.org/article_S0263574715000909},

}

C. Semini, V. Barasuol, T. Boaventura, M. Frigerio, M. Focchi, D. G. Caldwell, J. Buchli, Towards versatile legged robots through active impedance control Full paper - BIBTEX Citation The International Journal of Robotics Research (IJRR), 1003--1020, 2015, View at publisher @ARTICLE{semini15ijrr,

AUTHOR = {Semini, Claudio and Barasuol, Victor and Boaventura, Thiago and Frigerio, Marco and Focchi, Michele and Caldwell, Darwin G. and Buchli, Jonas},

TITLE = {Towards versatile legged robots through active impedance control},

JOURNAL = {The International Journal of Robotics Research (IJRR)},

YEAR = {2015},

VOLUME = {34},

PAGES = {1003--1020},

NUMBER = {7},

OWNER = {csemini},

TIMESTAMP = {2015.05.23},

URL = {http://ijr.sagepub.com/content/34/7/1003},

DOI = {10.1177/0278364915578839},

}

2014

S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, D. G. Caldwell, C. Semini, Quadruped robot trotting over irregular terrain assisted by stereo-vision Full paper - BIBTEX Citation Intelligent Service Robotics, pp. 67-77, 2014, View at publisher @ARTICLE{bazeille14isr,

AUTHOR = {Bazeille, Stephane and Barasuol, Victor and Focchi, Michele and Havoutis, Ioannis and Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {Quadruped robot trotting over irregular terrain assisted by stereo-vision},

JOURNAL = {Intelligent Service Robotics},

YEAR = {2014},

VOLUME = {vol. 7},

PAGES = {pp. 67-77},

OWNER = {mfocchi},

TIMESTAMP = {2014.11.24},

DOI = {10.1007/s11370-014-0147-9},

}

E. Kostamo, M. Focchi, E. Guglielmino, J. Kostamo, J. Buchli, M. Pietola, D. G. Caldwell, Magnetorheologically Damped Compliant Foot for Legged Robotic Application Full paper - BIBTEX Citation Journal of Mechanical Design, pp. 021003-1/8, 2014, View at publisher @ARTICLE{kostamo14,

AUTHOR = {Kostamo, Esa and Focchi, Michele and Guglielmino, Emanuele and Kostamo, Jari and Buchli, Jonas and Pietola, Matti and Caldwell, Darwin G.},

TITLE = {Magnetorheologically Damped Compliant Foot for Legged Robotic Application},

JOURNAL = {Journal of Mechanical Design},

YEAR = {2014},

VOLUME = {vol. 136},

PAGES = {pp. 021003-1/8},

__MARKEDENTRY = {[mfocchi:6]},

OWNER = {mfocchi},

TIMESTAMP = {2014.11.24},

DOI = {10.1115/1.4025966},

}

M. Camurri, R. Vezzani, R. Cucchiara, 3D Hough transform for sphere recognition on point clouds Full paper - BIBTEX Citation Machine Vision and Applications, 1877-1891, 2014, View at publisher @ARTICLE{camurri14,

YEAR = {2014},

ISSN = {0932-8092},

JOURNAL = {Machine Vision and Applications},

VOLUME = {25},

NUMBER = {7},

DOI = {10.1007/s00138-014-0640-3},

TITLE = {3D Hough transform for sphere recognition on point clouds},

URL = {http://dx.doi.org/10.1007/s00138-014-0640-3},

PUBLISHER = {Springer Berlin Heidelberg},

KEYWORDS = {3D Hough transform; Sphere detection; Randomized HT; Probabilistic HT},

AUTHOR = {Camurri, Marco and Vezzani, Roberto and Cucchiara, Rita},

PAGES = {1877-1891},

LANGUAGE = {English},

}

2011

C. Semini, N. G. Tsagarakis, E. Guglielmino, M. Focchi, F. Cannella, D. G. Caldwell, Design of HyQ - a Hydraulically and Electrically Actuated Quadruped Robot Full paper - BIBTEX Citation IMechE Part I: Journal of Systems and Control Engineering, 831-849, 2011, View at publisher @ARTICLE{semini11hyqdesignjsce,

AUTHOR = {Semini, Claudio and Tsagarakis, Nikos G. and Guglielmino, Emanuele and Focchi, Michele and Cannella, Ferdinando and Caldwell, Darwin G.},

TITLE = {Design of HyQ - a Hydraulically and Electrically Actuated Quadruped Robot},

JOURNAL = {IMechE Part I: Journal of Systems and Control Engineering},

YEAR = {2011},

VOLUME = {225},

PAGES = {831-849},

NUMBER = {6},

OWNER = {CSemini},

TIMESTAMP = {2011.02.20},

DOI = {10.1177/0959651811402275},

}

Dissertations

O. Villarreal, Bridging Vision and Dynamic Legged Locomotion 2020 - BIBTEX Citation 2020 - Download dissertation

@PHDTHESIS{gao18phd,

AUTHOR = {Villarreal, Octavio},

TITLE = {Bridging Vision and Dynamic Legged Locomotion},

SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},

YEAR = {2020},

OWNER = {phd},

TIMESTAMP = {2020.03.30},

}

R. Orsolino, Actuation-Aware Simplified Dynamic Models for Robotic Legged Locomotion 2019 - BIBTEX Citation 2019 - Download dissertation

@PHDTHESIS{gao18phd,

AUTHOR = {Orsolino, Romeo},

TITLE = {Actuation-Aware Simplified Dynamic Models for Robotic Legged Locomotion},

SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},

YEAR = {2019},

OWNER = {phd},

TIMESTAMP = {2020.03.30},

}

Y. Gao, Towards the Design and Evaluation of Robotic Legs of Quadruped Robots 2018 - BIBTEX Citation 2018 - Download dissertation

@PHDTHESIS{gao18phd,

AUTHOR = {Gao, Yifu},

TITLE = {Towards the Design and Evaluation of Robotic Legs of Quadruped Robots},

SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},

YEAR = {2018},

OWNER = {phd},

TIMESTAMP = {2017.09.29},

}

M. Camurri, Multisensory State Estimation and Mapping on Dynamic Legged Robots 2017 - BIBTEX Citation 2017 - Download dissertation

@PHDTHESIS{camurri17phd,

AUTHOR = {Camurri, Marco},

TITLE = {Multisensory State Estimation and Mapping on Dynamic Legged Robots},

SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},

YEAR = {2017},

OWNER = {phd},

TIMESTAMP = {2017.09.29},

}

C. Mastalli, Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain 2017 - BIBTEX Citation 2017 - Download dissertation

@PHDTHESIS{mastalli17phd,

AUTHOR = {Mastalli, Carlos},

TITLE = {Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain},

SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},

YEAR = {2017},

OWNER = {phd},

TIMESTAMP = {2017.09.29},

}

B. U. Rehman, Design and Control of a Compact Hydraulic Manipulator for Quadruped Robots 2016 - BIBTEX Citation 2016 - Download dissertation

@PHDTHESIS{phd16brehman,

AUTHOR = {Rehman, Bilal U},

TITLE = {Design and Control of a Compact Hydraulic Manipulator for Quadruped Robots},

SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},

YEAR = {2016},

}

H. Khan, MiniHyQ - Development of a Lighweight Highly-Dynamic Hydraulic Quadruped Robot 2015 - BIBTEX Citation 2015 - Download dissertation

@PHDTHESIS{khan15phd,

AUTHOR = {Khan, Hamza},

TITLE = {MiniHyQ - Development of a Lighweight Highly-Dynamic Hydraulic Quadruped Robot},

SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},

YEAR = {2015},

OWNER = {phd},

TIMESTAMP = {2013.09.29},

}

M. Frigerio, Model--Based Code Generation for the Kinematics and the Dynamics of Articulated Robots 2013 - BIBTEX Citation 2013 - Download dissertation

@PHDTHESIS{frigerio13phd,

AUTHOR = {Frigerio, Marco},

TITLE = {Model--Based Code Generation for the Kinematics and the Dynamics of Articulated Robots},

SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},

YEAR = {2013},

OWNER = {phd},

TIMESTAMP = {2013.09.29},

}

T. Boaventura, Hydraulic Compliance Control of the Quadruped Robot HyQ 2013 - BIBTEX Citation 2013 - Download dissertation

@PHDTHESIS{cunha13phdthesis,

AUTHOR = {Boaventura, Thiago},

TITLE = {Hydraulic Compliance Control of the Quadruped Robot HyQ},

SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},

YEAR = {2013},

OWNER = {CSemini},

}

M. Focchi, Strategies To Improve the Impedance Control Performance of a Quadruped Robot 2013 - BIBTEX Citation 2013 - Download dissertation

@PHDTHESIS{focchi13phdthesis,

AUTHOR = {Focchi, Michele},

TITLE = {Strategies To Improve the Impedance Control Performance of a Quadruped Robot},

SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},

YEAR = {2013},

OWNER = {CSemini},

}

C. Semini, HyQ -- Design and Development of a Hydraulically Actuated Quadruped Robot 2010 - BIBTEX Citation 2010 - Download dissertation

@PHDTHESIS{semini10phdthesis,

AUTHOR = {Semini, Claudio},

TITLE = {HyQ -- Design and Development of a Hydraulically Actuated Quadruped Robot},

SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},

YEAR = {2010},

OWNER = {CSemini},

TIMESTAMP = {2010.09.12},

}

International Conference Papers

2020

C. Gonzalez, V. Barasuol, M. Frigerio, R. Featherstone, D.G. Caldwell, C. Semini, Line Walking and Balancing for Legged Robots with Point Feet, Full paper - BIBTEX Citation IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, accepted - View at Publisher @INPROCEEDINGS{gonzalez20iros,

AUTHOR = {Gonzalez, Carlos and Barasuol, Victor and Frigerio, Marco and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

TITLE = {Line Walking and Balancing for Legged Robots with Point Feet},

YEAR = {2020, accepted},

}

G. Fink and C. Semini, Proprioceptive Sensor Fusion for Quadruped Robot State Estimation, BIBTEX Citation IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, accepted - Full paper @INPROCEEDINGS{fink20iros,

AUTHOR = {Fink, Geoff and Semini, Claudio},

BOOKTITLE = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},

TITLE = {Proprioceptive Sensor Fusion for Quadruped Robot State Estimation},

PAGES = {1--7},

ADDRESS = {Las Vegas, Nevada},

MONTH = {Oct.},

YEAR = {2020, accepted},

}

D. Esteban, O. Villarreal, S. Fahmi, C. Semini and V. Barasuol, On the Influence of Body Velocity in Foothold Adaptations for Dynamic Legged Locomotion via CNNs, BIBTEX Citation International Conference on Climbing and Walking Robots (CLAWAR), 2020, accepted - Full paper @INPROCEEDINGS{esteban20clawar,

AUTHOR = {Esteban, Domingo and Villarreal, Octavio and Fahmi, Shamel and Semini, Claudio and Barasuol, Victor},

BOOKTITLE = {International Conference on Climbing and Walking Robots ({CLAWAR})},

TITLE = {{On the Influence of Body Velocity in Foothold Adaptation for Dynamic Legged Locomotion via CNNs}},

PAGES = {353-360},

ADDRESS = {Moscow, Russia},

MONTH = {Aug.},

YEAR = {2020, accepted},

}

G. Fink and C. Semini, The DLS Quadruped Proprioceptive Sensor Dataset, BIBTEX Citation International Conference on Climbing and Walking Robots (CLAWAR), 2020, accepted - Full paper @INPROCEEDINGS{fink20clawar,

AUTHOR = {Fink, Geoff and Semini, Claudio},

BOOKTITLE = {International Conference on Climbing and Walking Robots ({CLAWAR})},

TITLE = {The {DLS} Quadruped Proprioceptive Sensor Dataset},

PAGES = {1--8},

ADDRESS = {Moscow, Russia},

MONTH = {Aug.},

YEAR = {2020, accepted},

}

On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics , Int. Conf. Robot. Automat. (ICRA), 2020.

Full Paper - Video - BIBTEX Citation A. Bratta, R. Orsolino, M. Focchi, V. Barasuol, G.G. Muscolo and C. Semini,, Int. Conf. Robot. Automat. (ICRA), 2020. @InProceedings{Bratta2020,

Title = {On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics},

Author = {Angelo {Bratta}, Romeo {Orsolino}, Michele {Focchi}, Victor {Barasuol}, Giovanni Gerardo {Muscolo} and Claudio {Semini}},

Booktitle = {Proc. {IEEE} Int. Conf. Robot. Automat. (ICRA)},

Year = {2020},

Month = May,

Pages = {XXXX--XXXX},

Doi = {XXXXXXXXX},

Address = {Paris, France},

}

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion, Int. Conf. Robot. Automat. (ICRA), 2020.

Full Paper - View at publisher - Video - BIBTEX Citation O. Villarreal, V. Barasuol, P. Wensing and C. Semini,, Int. Conf. Robot. Automat. (ICRA), 2020. @InProceedings{Villarreal2020,

Title = {MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion},

Author = {Octavio {Villarreal} and Victor {Barasuol} and Patrick {Wensing} and Claudio {Semini}},

Booktitle = {Proc. {IEEE} Int. Conf. Robot. Automat. (ICRA)},

Year = {2020},

Month = May,

Pages = {XXXX--XXXX},

Doi = {XXXXXXXXX},

Address = {Paris, France},

}

Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot, Int. Conf. Robot. Automat. (ICRA), 2020.

Full Paper - BIBTEX Citation G. Urbain, V. Barasuol, C. Semini, J. Dambre and F. wyffels,, Int. Conf. Robot. Automat. (ICRA), 2020. @InProceedings{Urbain2020,

Title = {Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot},

Author = {Gabriel {Urbain}, Victor {Barasuol}, Claudio {Semini}, Joni {Dambre} and Francis {wyffels}},

Booktitle = {Proc. {IEEE} Int. Conf. Robot. Automat. (ICRA)},

Year = {2020},

Month = May,

Pages = {XXXX--XXXX},

Doi = {XXXXXXXXX},

Address = {Paris, France},

}

2019

V. Barasuol, G. Fink, M. Focchi, D. G. Caldwell, C. Semini, On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots Video - BIBTEX Citation International Conference on Climbing and Walking Robots (CLAWAR), 2019 - Full paper @INPROCEEDINGS{barasuol19clawar,

AUTHOR = {V. Barasuol and G. Fink and M. Focchi and D. G. Caldwell and C. Semini},

BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},

TITLE = {On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots},

YEAR = {2019},

MONTH = {Oct},

}

A. Reinke, M. Camurri, C. Semini, A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots BIBTEX Citation 2019 Third IEEE International Conference on Robotic Computing (IRC)- View at publisher @INPROCEEDINGS{8675635,

AUTHOR = {A. {Reinke} and M. {Camurri} and C. {Semini},

BOOKTITLE = {2019 Third IEEE International Conference on Robotic Computing (IRC)},

TITLE = {A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots},

YEAR = {2019},

VOLUME = {},

NUMBER = {},

PAGES = {391-394},

}

2017

E. Heijmink, A. Radulescu, V. Barasuol, D. G. Caldwell, C. Semini, Learning Optimal Gait Parameters and Impedance Profiles for Legged Locomotion BIBTEX Citation 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017, 2017 - Full paper @INPROCEEDINGS{heijmink17humanoids,

AUTHOR = {Heijmink, Elco and Radulescu, Andreea and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {12th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017},

TITLE = {Learning Optimal Gait Parameters and Impedance Profiles for Legged Locomotion},

YEAR = {2017},

}

M. Focchi, R. Featherstone, R. Orsolino, D. G. Caldwell, C. Semini, Viscosity-based Height Reflex for Workspace Augmentation for Quadrupedal Locomotion on Rough Terrain BIBTEX Citation IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 - Full paper @INPROCEEDINGS{focchi17iros,

AUTHOR = {Focchi, Michele and Featherstone, Roy and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

TITLE = {Viscosity-based Height Reflex for Workspace Augmentation for Quadrupedal Locomotion on Rough Terrain},

YEAR = {2017},

}

G. Tournois, M. Focchi, A. del Prete, R. Orsolino, D. G. Caldwell, C. Semini, Online Payload Identification for Quadruped Robots BIBTEX Citation IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 - Full paper @INPROCEEDINGS{tournois17iros,

AUTHOR = {Tournois, Guido and Focchi, Michele and del Prete, Andrea and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

TITLE = {Online Payload Identification for Quadruped Robots},

YEAR = {2017},

}

J. Koivumaki, J. Mattila, C. Semini, D. G. Caldwell, Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures ASME Symposium on Fluid Power and Motion Control (FPMC), 2017 - BIBTEX Citation @INPROCEEDINGS{koivumaki17fpmc,

AUTHOR = {Koivumaki, J. and Mattila, J. and Semini, Claudio and Caldwell, Darwin G.},

BOOKTITLE = {ASME Symposium on Fluid Power and Motion Control (FPMC)},

TITLE = {Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures},

YEAR = {2017},

}

Y. Gao, V. Barasuol, D. G. Caldwell, C. Semini, Kinematic Design of a Configurable Terrain Simulator Platform for Robotic Legs BIBTEX Citation International Conference on Advanced Robotics and Mechatronics (ICARM), 2017 - Full paper @INPROCEEDINGS{gao17icarm,

AUTHOR = {Gao, Yifu and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {International Conference on Advanced Robotics and Mechatronics (ICARM)},

TITLE = {Kinematic Design of a Configurable Terrain Simulator Platform for Robotic Legs},

YEAR = {2017},

}

M. Frigerio, V. Barasuol, M. Focchi, D. G. Caldwell, C. Semini, Validation of Computer Simulations of the HyQ robot BIBTEX Citation International Conference on Climbing and Walking Robots (CLAWAR), 2017 - Full paper @INPROCEEDINGS{frigerio17clawar,

AUTHOR = {Frigerio, Marco and Barasuol, Victor and Focchi, Michiele and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},

TITLE = {Validation of Computer Simulations of the HyQ robot},

YEAR = {2017},

}

S. Nobili, M. Camurri, V. Barasuol, M. Focchi, D. G. Caldwell, C. Semini, M. Fallon, Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots BIBTEX Citation Proceedings of Robotics: Science and Systems, 2017 - Full paper @INPROCEEDINGS{nobili_camurri2017rss,

AUTHOR = {Nobili, S. and Camurri, M. and Barasuol, V. and Focchi, M. and Caldwell, D. G. and Semini, C. and Fallon, M.},

TITLE = {Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots},

BOOKTITLE = {Proceedings of Robotics: Science and Systems},

YEAR = {2017},

ADDRESS = {Boston, USA},

MONTH = {July},

}

B. U. Rehman, D. G. Caldwell, C. Semini, Centaur Robots - a Survey BIBTEX Citation International Conference on Climbing and Walking Robots (CLAWAR), 2017 - Full paper @INPROCEEDINGS{rehman17clawar,

AUTHOR = {Rehman, Bilal U and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},

TITLE = {Centaur Robots - a Survey},

YEAR = {2017},

}

R. Orsolino, M. Focchi, D. G. Caldwell, C. Semini, A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding BIBTEX Citation International Conference on Climbing and Walking Robots (CLAWAR), 2017 - Full paper @INPROCEEDINGS{orsolino17clawar,

AUTHOR = {Orsolino, Romeo and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},

TITLE = {A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding},

YEAR = {2017},

}

C. Mastalli, M. Focchi, I. Havoutis, A. Radulescu, S. Calinon, J. Buchli, D. G. Caldwell, C. Semini, Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion BIBTEX Citation IEEE International Conference on Robotics and Automation (ICRA), 2017 - Full paper @INPROCEEDINGS{mastalli17icra,

AUTHOR = {Mastalli, Carlos and Focchi, Michele and Havoutis, Ioannis and Radulescu, Andreea and Calinon, Sylvain and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},

TITLE = {Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion},

YEAR = {2017},

}

A. Radulescu, I. Havoutis, D. G. Caldwell, C. Semini, Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems BIBTEX Citation IEEE International Conference on Robotics and Automation (ICRA), 2017 - Full paper @INPROCEEDINGS{radulescu17icra,

AUTHOR = {Radulescu, Andreea and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems},

BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},

YEAR = {2017},

}

2016

M. Neunert, M. Giftthaler, M. Frigerio, C. Semini, J. Buchli, Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation BIBTEX Citation IEEE International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), 2016 - Full paper @INPROCEEDINGS{neunert16simpar,

AUTHOR = {Neunert, Michael and Giftthaler, Markus and Frigerio, Marco and Semini, Claudio and Buchli, Jonas},

TITLE = {Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation},

BOOKTITLE = {IEEE International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)},

YEAR = {2016},

}

Y. Gao, V. Barasuol, D. G. Caldwell, C. Semini, Study on the Morphological Parameters of Quadruped Robot Designs Considering Ditch Traversability BIBTEX Citation IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO), 2016 - Full paper @INPROCEEDINGS{gao16robio,

AUTHOR = {Gao, Yifu and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {Study on the Morphological Parameters of Quadruped Robot Designs Considering Ditch Traversability},

BOOKTITLE = {IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO)},

YEAR = {2016},

}

B. U. Rehman, M. Focchi, J. Lee, H. Dallali, D. G. Caldwell, C. Semini, Towards a Multi-legged Mobile Manipulator Full paper - BIBTEX Citation IEEE International Conference on Robotics and Automation (ICRA), 2016, View at publisher @INPROCEEDINGS{icra16brehman,

AUTHOR = {Rehman, Bilal U and Focchi, Michele and Lee, Jinoh and Dallali, Houman and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},

TITLE = {Towards a Multi-legged Mobile Manipulator},

MONTH = {May},

PUBLISHER = {IEEE},

YEAR = {2016},

DOI = {10.1109/ICRA.2016.7487545},

}

H. Kuwahara, F. Terai, M. Focchi, G. A. Medrano-Cerda, D. G. Caldwell, C. Semini, A Design Method of A Robust Controller for Hydraulic Actuation with Disturbance Observers Full paper - BIBTEX Citation IEEE International Workshop on Advanced Motion Control (AMC), 2016, View at publisher @INPROCEEDINGS{kuwahara16acm,

AUTHOR = {Kuwahara, Hiroaki and Terai, Fujio and Focchi, Michele and Medrano-Cerda, Gustavo A. and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {IEEE International Workshop on Advanced Motion Control (AMC)},

TITLE = {A Design Method of A Robust Controller for Hydraulic Actuation with Disturbance Observers},

MONTH = {april},

PUBLISHER = {IEEE},

YEAR = {2016},

DOI = {10.1109/AMC.2016.7496365},

}

C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences Full paper - BIBTEX Citation IEEE International Conference on Robotics and Automation (ICRA), 2016, View at publisher @INPROCEEDINGS{icra16mastalli,

AUTHOR = {Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},

TITLE = {Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences},

MONTH = {May},

PUBLISHER = {IEEE},

YEAR = {2016},

DOI = {10.1109/ICRA.2016.7487664},

}

2015

X. Liu, C. Semini, I. Poulakakis, Active Compliance Hybrid Zero Dynamics Control of Bounding on HyQ Full paper - BIBTEX Citation IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO), 2015, View at publisher @INPROCEEDINGS{liu15robio,

AUTHOR = {Liu, Xin and Semini, Claudio and Poulakakis, Ioannis},

BOOKTITLE = {IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO)},

TITLE = {Active Compliance Hybrid Zero Dynamics Control of Bounding on HyQ},

YEAR = {2015},

MONTH = {December},

DOI = {10.1109/ROBIO.2015.7418910},

}

I. Havoutis, D. G. Caldwell, C. Semini, Lidar-based navigation-level path planning for field-capable legged robots Full paper - BIBTEX Citation International Conference on Climbing and Walking Robots (CLAWAR), 2015, View at publisher @INPROCEEDINGS{havoutis15clawar,

AUTHOR = {Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},

TITLE = {Lidar-based navigation-level path planning for field-capable legged robots},

YEAR = {2015},

MONTH = {December},

URL = {http://www.worldscientific.com/worldscibooks/10.1142/9820},

}

C. Semini, J. Goldsmith, D. Manfredi, F. Calignano, E. Ambrosio, J. Pakkanen, D. Caldwell, Additive manufacturing for agile legged robots with hydraulic actuation Full paper - BIBTEX Citation International Conference on Advanced Robotics (ICAR), 123-129, 2015, View at publisher @INPROCEEDINGS{semini15icar,

AUTHOR = {Semini, C. and Goldsmith, J. and Manfredi, D. and Calignano, F. and Ambrosio, E.P. and Pakkanen, J. and Caldwell, D.G.},

BOOKTITLE = {International Conference on Advanced Robotics (ICAR)},

TITLE = {Additive manufacturing for agile legged robots with hydraulic actuation},

YEAR = {2015},

PAGES = {123-129},

KEYWORDS = {hydraulic systems;industrial robots;laser sintering;legged locomotion;rapid prototyping (industrial);DMLS;HyQ2Max;additive manufacturing;agile legged robots;direct metal laser sintering;hydraulic actuation;hydraulic quadruped robot;versatile legged robots;Electron tubes;Legged locomotion;Manifolds;Metals;Powders},

DOI = {10.1109/ICAR.2015.7251444},

MONTH = {July},

}

M. Camurri, S. Bazeille, D. Caldwell, C. Semini, Real-time depth and inertial fusion for local SLAM on dynamic legged robots Full paper - BIBTEX Citation IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 259-264, 2015, View at publisher @INPROCEEDINGS{camurri15mfi,

AUTHOR = {Camurri, M. and Bazeille, S. and Caldwell, D.G. and Semini, C.},

BOOKTITLE = {IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},

TITLE = {Real-time depth and inertial fusion for local SLAM on dynamic legged robots},

YEAR = {2015},

PAGES = {259-264},

DOI = {10.1109/MFI.2015.7295818},

MONTH = {Sept},

}

M. Focchi, V. Barasuol, M. Frigerio, D. G. Caldwell, C. Semini, Slip Detection and Recovery for Quadruped Robots Full paper - BIBTEX Citation International Symposium on Robotics Research (ISRR), 2015, View at publisher @INPROCEEDINGS{focchi15isrr,

BOOKTITLE = {International Symposium on Robotics Research (ISRR)},

AUTHOR = {Focchi, Michele and Barasuol, Victor and Frigerio, Marco and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {Slip Detection and Recovery for Quadruped Robots},

YEAR = {2015},

URL = {http://www.springer.com/it/book/9783319609157?wt_mc=Internal.Event.1.SEM.ChapterAuthorCongrat},

}

B. U. Rehman, M. Focchi, M. Frigerio, J. Goldsmith, D. G. Caldwell, C. Semini, Design of a Hydraulically Actuated Arm for a Quadruped Robot Full paper - BIBTEX Citation Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR), 2015, View at publisher @INPROCEEDINGS{rehman15clawar,

AUTHOR = {Rehman, Bilal U and Focchi, Michele and Frigerio, Marco and Goldsmith, Jake and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {Design of a Hydraulically Actuated Arm for a Quadruped Robot},

BOOKTITLE = {Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR)},

YEAR = {2015},

URL = {http://www.worldscientific.com/worldscibooks/10.1142/9820},

}

C. Semini, J. Goldsmith, B. U. Rehman, M. Frigerio, V. Barasuol, M. Focchi, D. G. Caldwell, Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur BIBTEX Citation 14th Scandinavian International Conference on Fluid Power (SICFP), 2015 - Full paper @INPROCEEDINGS{semini15sicfp,

AUTHOR = {Semini, Claudio and Goldsmith, Jake and Rehman, Bilal U and Frigerio, Marco and Barasuol, Victor and Focchi, Michele and Caldwell, Darwin G.},

TITLE = {Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur},

BOOKTITLE = {14th Scandinavian International Conference on Fluid Power (SICFP)},

YEAR = {2015},

}

H. Khan, S. Kitano, M. Frigerio, M. Camurri, V. Barasuol, R. Featherstone, D. G. Caldwell, C. Semini, Development of the Lightweight Hydraulic Quadruped Robot - MiniHyQ Full paper - BIBTEX Citation IEEE International Conference on Technologies for Practical Robot Applications (TEPRA), 2015, View at publisher @INPROCEEDINGS{khan15tepra,

AUTHOR = {Khan, Hamza and Kitano, Satoshi and Frigerio, Marco and Camurri, Marco and Barasuol, Victor and Featherstone, Roy, and Caldwell, Darwin G. and Semini, Claudio },

BOOKTITLE = {IEEE International Conference on Technologies for Practical Robot Applications (TEPRA)},

TITLE = {Development of the Lightweight Hydraulic Quadruped Robot - MiniHyQ},

MONTH = {May},

YEAR = {2015},

DOI = {10.1109/TePRA.2015.7219671},

}

C. Mastalli, A. Winkler, I. Havoutis, D. G. Caldwell, C. Semini, On-line and On-board Planning and Perception for Quadrupedal Locomotion Full paper - BIBTEX Citation IEEE International Conference on Technologies for Practical Robot Applications (TEPRA), 2015, View at publisher @INPROCEEDINGS{mastalli15tepra,

AUTHOR = {Mastalli, Carlos and Winkler, Alexander and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {IEEE International Conference on Technologies for Practical Robot Applications (TEPRA)},

TITLE = {On-line and On-board Planning and Perception for Quadrupedal Locomotion},

MONTH = {May},

DOI = {10.1109/TePRA.2015.7219685},

YEAR = {2015},

}

A. Winkler, C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain Full paper - BIBTEX Citation IEEE International Conference on Robotics and Automation (ICRA), 2015, View at publisher @INPROCEEDINGS{winkler15icra,

AUTHOR = {Winkler, Alexander and Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain},

BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},

MONTH = {May},

DOI = {10.1109/ICRA.2015.7139916},

YEAR = {2015},

}

H. Khan, F. Cannella, D. Caldwell, C. Semini, An innovative torque sensor design for the lightest hydraulic quadruped robot Full paper - BIBTEX Citation International Conference on Climbing and Walking Robots (CLAWAR), 2015, View at publisher @INPROCEEDINGS{khan15clawar,

AUTHOR = {Khan, Hamza and Cannella, Ferdinando and Caldwell, Darwin and Semini, Claudio},

TITLE = {An innovative torque sensor design for the lightest hydraulic quadruped robot},

BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},

YEAR = {2015},

URL = {http://www.worldscientific.com/worldscibooks/10.1142/9820},

}

H. Khan, R. Featherstone, D. G. Caldwell, C. Semini, Bio-inspired Knee Joint Mechanism for a Hydraulic Quadruped Robot Full paper - BIBTEX Citation International Conference on Automation, Robotics and Applications (ICARA), 2015, View at publisher @INPROCEEDINGS{khan15icara,

TITLE = {Bio-inspired Knee Joint Mechanism for a Hydraulic Quadruped Robot},

AUTHOR = {Khan, Hamza and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio},

BOOKTITLE = {International Conference on Automation, Robotics and Applications (ICARA)},

YEAR = {2015},

DOI = {10.1109/ICARA.2015.7081168},

}

H. Khan, K. Satoshi, D. G. Caldwell, C. Semini, Development of a lightweight on-board hydraulic system for a quadruped robot BIBTEX Citation 14th Scandinavian International Conference on Fluid Power (SICFP), 2015 - Full paper @INPROCEEDINGS{khan15sicfp,

TITLE = {Development of a lightweight on-board hydraulic system for a quadruped robot},

AUTHOR = {Khan, Hamza and Satoshi, Kitano and Caldwell, Darwin G. and Semini, Claudio },

BOOKTITLE = {14th Scandinavian International Conference on Fluid Power (SICFP)},

YEAR = {2015},

}

V. Barasuol, M. Camurri, S. Bazeille, D. Caldwell, C. Semini, Reactive Trotting with Foot Placement Corrections through Visual Pattern Classification Full paper - BIBTEX Citation IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, View at publisher @INPROCEEDINGS{barasuol15iros,

TITLE = {Reactive Trotting with Foot Placement Corrections through Visual Pattern Classification},

AUTHOR = {Barasuol, Victor and Camurri, Marco and Bazeille, Stephane and Caldwell, Darwin and Semini, Claudio},

BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

MONTH = {10},

YEAR = {2015},

DOI = {10.1109/IROS.2015.7354191},

}

2014

A. Winkler, I. Havoutis, S. Bazeille, J. Ortiz, M. Focchi, D. G. Caldwell, C. Semini, Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots Full paper - BIBTEX Citation IEEE International Conference on Robotics and Automation (ICRA), 2014, View at publisher @INPROCEEDINGS{winkler14icra,

AUTHOR = {Winkler, Alexander and Havoutis, Ioannis and Bazeille, Stephane and Ortiz, Jesus and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots},

BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},

YEAR = {2014},

DOI = {10.1109/ICRA.2014.6907815},

}

S. Bazeille, M. Camurri, J. Ortiz, I. Havoutis, D. G. Caldwell, C. Semini, Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot Full paper - BIBTEX Citation ICRA14 Workshop on Modelling, Estimation, Perception and Control of All Terrain Mobile Robots (WMEPC14), 2014, View at publisher @INPROCEEDINGS{bazeille14icraw,

AUTHOR = {Bazeille, Stephane and Camurri, Marco and Ortiz, Jesus and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot},

BOOKTITLE = {ICRA14 Workshop on Modelling, Estimation, Perception and Control of All Terrain Mobile Robots (WMEPC14)},

YEAR = {2014},

DOI = {10.1007/s11370-014-0147-9},

}

2013

T. Boaventura, G. Medrano-Cerda, C. Semini, J. Buchli, D. G. Caldwell, {Stability and performance of the compliance controller of the quadruped robot HyQ} Full paper - BIBTEX Citation IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1458-1464, 2013, View at publisher @INPROCEEDINGS{boaventura13iros,

AUTHOR = {Boaventura, T. and Medrano-Cerda, G.A. and Semini, C. and Buchli, J. and Caldwell, Darwin G.},

BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

TITLE = {{Stability and performance of the compliance controller of the quadruped robot HyQ}},

YEAR = {2013},

MONTH = {Nov},

PAGES = {1458-1464},

KEYWORDS = {compliance control;legged locomotion;stability;actuator bandwidth;cascade compliance controller;compliant behavior;compliant legged robot;contact point;environmental contacts;foot compliance;nested torque loop performance;passivity;quadruped robot HyQ;robot leg;stability analysis;virtual impedances;Actuators;Bandwidth;Damping;Legged locomotion;Springs;Torque},

DOI = {10.1109/IROS.2013.6696541},

ISSN = {2153-0858},

}

S. Zapoilsky, E. Drumwright, I. Havoutis, J. Buchli, C. Semini, Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces Full paper - BIBTEX Citation 16th International Conference on Climbing and Walking Robots (CLAWAR), 2013, View at publisher @INPROCEEDINGS{zapoilsky2013clawar,

AUTHOR = {Zapoilsky, Samuel and Drumwright, Evan and Havoutis, Ioannis and Buchli, Jonas and Semini, Claudio},

TITLE = {Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces},

BOOKTITLE = {16th International Conference on Climbing and Walking Robots (CLAWAR)},

YEAR = {2013},

ADDRESS = {Sydney, Australia},

MONTH = {July},

PUBLISHER = {World Scientific Publishing Company},

__MARKEDENTRY = {[mfocchi:6]},

OWNER = {mfocchi},

TIMESTAMP = {2014.11.24},

URL = {http://www.worldscientific.com/worldscibooks/10.1142/8913},

}

H. Khan, C. Semini, V. Barasuol, D. G. Caldwell, Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots BIBTEX Citation Int. Conf. on Climbing and Walking Robots (CLAWAR), 2013 - Full paper @INPROCEEDINGS{khan13clawar,

TITLE = {Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots},

AUTHOR = {Khan, Hamza and Semini, Claudio and Barasuol, Victor and Caldwell, Darwin G.},

BOOKTITLE = {Int. Conf. on Climbing and Walking Robots (CLAWAR)},

YEAR = {2013},

}

B. Ugurlu, I. Havoutis, C. Semini, D. G. Caldwell, Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control Full paper - BIBTEX Citation IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, View at publisher @INPROCEEDINGS{ugurlu13iros,

AUTHOR = {Ugurlu, Barkan and Havoutis, Ioannis and Semini, Claudio and Caldwell, Darwin G.},

BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

TITLE = {Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control},

YEAR = {2013},

DOI = {10.1109/IROS.2013.6697234},

}

I. Havoutis, J. Ortiz, S. Bazeille, V. Barasuol, C. Semini, D. G. Caldwell, Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ) Full paper - BIBTEX Citation IEEE/RSJ International Conference on Intelligent Robotsand Systems (IROS), 2013, View at publisher @INPROCEEDINGS{havoutis13iros,

AUTHOR = {Havoutis, Ioannis and Ortiz, Jesus and Bazeille, Stephane. and Barasuol, Victor and Semini, Claudio and Caldwell, Darwin G.},

BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robotsand Systems (IROS)},

TITLE = {Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ)},

YEAR = {2013},

DOI = {10.1109/IROS.2013.6697235},

}

I. Havoutis, C. Semini, J. Buchli, D. G. Caldwell, Quadrupedal trotting with active compliance Full paper - BIBTEX Citation IEEE International Conference on Mechatronics (ICM), 2013, View at publisher @INPROCEEDINGS{havoutis13icm,

AUTHOR = {Havoutis, Ioannis and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.},

TITLE = {Quadrupedal trotting with active compliance},

JOURNAL = {IEEE International Conference on Mechatronics (ICM)},

YEAR = {2013},

DOI = {10.1109/ICMECH.2013.6519112},

}

V. Barasuol, J. Buchli, C. Semini, M. Frigerio, E. R. De Pieri, D. G. Caldwell, A Reactive Controller Framework for Quadrupedal Locomotion on Challenging Terrain Full paper - BIBTEX Citation IEEE International Conference on Robotics and Automation (ICRA), 2554-2561, 2013, View at publisher @INPROCEEDINGS{barasuol13icra,

AUTHOR = {Barasuol, Victor and Buchli, Jonas and Semini, Claudio and Frigerio, Marco and De Pieri, Edson Roberto and Caldwell, Darwin G.},

TITLE = {A Reactive Controller Framework for Quadrupedal Locomotion on Challenging Terrain},

JOURNAL = {IEEE International Conference on Robotics and Automation (ICRA)},

YEAR = {2013},

PAGES = {2554-2561},

MONTH = {5},

DOI = {10.1109/ICRA.2013.6630926},

OWNER = {vbarasuol},

TIMESTAMP = {2014.11.24},

}

C. Semini, V. Barasuol, M. Frigerio, T. Boaventura, J. Buchli, Is Active Impedance the Key to a Breakthrough for Legged Robots? Full paper - BIBTEX Citation International Symposium on Robotics Research (ISRR), 2013, View at publisher @INPROCEEDINGS{semini13isrr,

AUTHOR = {Semini, Claudio and Barasuol, Victor and Frigerio, Marco and Boaventura, Thiago and Buchli, Jonas},

TITLE = {Is Active Impedance the Key to a Breakthrough for Legged Robots?},

BOOKTITLE = {International Symposium on Robotics Research (ISRR)},

YEAR = {2013},

OWNER = {csemini},

TIMESTAMP = {2014.04.24},

DOI = {10.1007/978-3-319-28872-7_1},

}

M. Hutter, M. Bloesch, J. Buchli, C. Semini, S. Bazeille, L. Righetti, J. Bohg, AGILITY-Dynamic full body locomotion and manipulation with autonomous legged robots Full paper - BIBTEX Citation IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 1--4, 2013, View at publisher @INPROCEEDINGS{hutter13agility,

TITLE = {AGILITY-Dynamic full body locomotion and manipulation with autonomous legged robots},

AUTHOR = {Hutter, Marco and Bloesch, Michael and Buchli, Jonas and Semini, Claudio and Bazeille, Stephane and Righetti, Ludovic and Bohg, Jeannette},

BOOKTITLE = {IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},

PAGES = {1--4},

YEAR = {2013},

ORGANIZATION = {IEEE},

DOI = {10.1109/SSRR.2013.6719336},

}

M. Focchi, V. Barasuol, I. Havoutis, J. Buchli, C. Semini, D. G. Caldwell, Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion Full paper - BIBTEX Citation Int. Conf. on Climbing and Walking Robots (CLAWAR), 2013, View at publisher @INPROCEEDINGS{focchi2013a,

AUTHOR = {Focchi, Michele and Barasuol, Victor and Havoutis, Ioannis and Buchli, Jonas and Semini, Claudio and Caldwell, Darwin G.},

TITLE = {Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion},

BOOKTITLE = {Int. Conf. on Climbing and Walking Robots (CLAWAR)},

YEAR = {2013},

__MARKEDENTRY = {[mfocchi:6]},

OWNER = {mfocchi},

TIMESTAMP = {2013.08.09},

URL = {http://www.worldscientific.com/worldscibooks/10.1142/8913},

}

S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, C. Semini, D. G. Caldwell, Vision enhanced reactive locomotion control for trotting on rough terrain Full paper - BIBTEX Citation IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 1-6, 2013, View at publisher @INPROCEEDINGS{bazeille13tepra,

AUTHOR = {Bazeille, S. and Barasuol, V. and Focchi, M. and Havoutis, I. and Frigerio, M. and Buchli, J. and Semini, C. and Caldwell, Darwin G.},

BOOKTITLE = {IEEE International Conference on Technologies for Practical Robot Applications (TePRA)},

TITLE = {Vision enhanced reactive locomotion control for trotting on rough terrain},

YEAR = {2013},

MONTH = {April},

PAGES = {1-6},

DOI = {10.1109/TePRA.2013.6556366},

ISSN = {2325-0526},

}

2012

T. Boaventura, C. Semini, J. Buchli, M. Frigerio, M. Focchi, D. G. Caldwell, Dynamic Torque Control of a Hydraulic Quadruped Robot Full paper - BIBTEX Citation IEEE International Conference in Robotics and Automation, 1889-1894, 2012, View at publisher @INPROCEEDINGS{boaventura12icra,

AUTHOR = {Boaventura, Thiago and Semini, Claudio and Buchli, Jonas and Frigerio, Marco and Focchi, Michele and Caldwell, Darwin G.},

TITLE = {Dynamic Torque Control of a Hydraulic Quadruped Robot},

BOOKTITLE = {IEEE International Conference in Robotics and Automation},

YEAR = {2012},

PAGES = {1889-1894},

OWNER = {csemini},

TIMESTAMP = {2011.09.16},

DOI = {10.1109/ICRA.2012.6224628},

}

M. Frigerio, J. Buchli, D. G. Caldwell, Code Generation of Algebraic Quantities for Robot Controllers Full paper - BIBTEX Citation IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, View at publisher @INPROCEEDINGS{frigerio12iros,

AUTHOR = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G.},

TITLE = {Code Generation of Algebraic Quantities for Robot Controllers},

BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

YEAR = {2012},

OPTIONS = {maxnames=7},

OWNER = {phd},

TIMESTAMP = {2014.01.09},

DOI = {10.1109/IROS.2012.6385694},

}

M. Focchi, T. Boaventura, C. Semini, M. Frigerio, J. Buchli, D. G. Caldwell, Torque-control Based Compliant Actuation of a Quadruped Robot Full paper - BIBTEX Citation Proc. of the 12th IEEE Int. Workshop on Advanced Motion Control (AMC), 2012, View at publisher @INPROCEEDINGS{focchi12acm,

AUTHOR = {Focchi, Michele and Boaventura, Thiago and Semini, Claudio and Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G.},

TITLE = {Torque-control Based Compliant Actuation of a Quadruped Robot},

BOOKTITLE = {Proc. of the 12th IEEE Int. Workshop on Advanced Motion Control (AMC)},

YEAR = {2012},

OWNER = {mfocchi},

TIMESTAMP = {2012.02.24},

DOI = {10.1109/AMC.2012.6197133},

}

C. Semini, H. Khan, M. Frigerio, T. Boaventura, M. Focchi, J. Buchli, D. G. Caldwell, Design and Scaling of Versatile Quadruped Robots Full paper - BIBTEX Citation Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Baltimore, USA, pp. 273-280, 2012, View at publisher @INPROCEEDINGS{semini12clawar,

AUTHOR = {Semini, Claudio and Khan, Hamza and Frigerio, Marco and Boaventura, Thiago and Focchi, Michele and Buchli, Jonas and Caldwell, Darwin G.},

TITLE = {Design and Scaling of Versatile Quadruped Robots},

JOURNAL = {Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Baltimore, USA},

YEAR = {2012},

PAGES = {pp. 273-280},

__MARKEDENTRY = {[mfocchi:6]},

OWNER = {mfocchi},

TIMESTAMP = {2014.11.24},

URL = {http://www.worldscientific.com/worldscibooks/10.1142/8546},

}

S. Peng, D. T. Branson, E. Guglielmino, T. Boaventura, D. G. Caldwell, Performance Assessment of Digital Hydraulics in a Quadruped Robot Leg Full paper - BIBTEX Citation Proceedings of the 11th Biennial Conference on Engineering Systems design and Analysis ESDA11, 2012, View at publisher @INPROCEEDINGS{peng12,

AUTHOR = {Peng, Shuang and Branson, David T. and Guglielmino, Emanuele and Boaventura, Thiago and Caldwell, Darwin G.},

TITLE = {Performance Assessment of Digital Hydraulics in a Quadruped Robot Leg},

BOOKTITLE = {Proceedings of the 11th Biennial Conference on Engineering Systems design and Analysis ESDA11},

YEAR = {2012},

OWNER = {tboaventura},

TIMESTAMP = {2012.03.11},

DOI = {10.1115/ESDA2012-82262},

}

T. Boaventura, M. Focchi, M. Frigerio, J. Buchli, C. Semini, G. A. Medrano-Cerda, D. G. Caldwell, On the role of load motion compensation in high-performance force control Full paper - BIBTEX Citation IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, View at publisher @INPROCEEDINGS{boaventura12iros,

AUTHOR = {Boaventura, Thiago and Focchi, Michele and Frigerio, Marco and Buchli, Jonas and Semini, Claudio and Medrano-Cerda, Gustavo A. and Caldwell, Darwin G.},

TITLE = {On the role of load motion compensation in high-performance force control},

BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems},

YEAR = {2012},

OWNER = {tboaventura},

TIMESTAMP = {2012.07.12},

DOI = {10.1109/IROS.2012.6385953},

}

2010

M. {Focchi}, E. {Guglielmino}, C. {Semini}, A. {Parmiggiani}, N. {Tsagarakis}, B. {Vanderborght}, D. G. {Caldwell}, Water/air performance analysis of a fluidic muscle BIBTEX Citation IEEE/RSJ International Conference on Intelligent Robots and Systems, 2194-2199, 2010, View at publisher @INPROCEEDINGS{focchi10iros,

AUTHOR = {M. {Focchi} and E. {Guglielmino} and C. {Semini} and A. {Parmiggiani} and N. {Tsagarakis} and B. {Vanderborght} and D. G. {Caldwell}},

BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems},

TITLE = {Water/air performance analysis of a fluidic muscle},

YEAR = {2010},

VOLUME = {},

NUMBER = {},

PAGES = {2194-2199},

KEYWORDS = {flow control;fluidic devices;hydraulic systems;mobile robots;pneumatic actuators;pneumatic control equipment;water-air performance analysis;fluidic muscle;energetic point;higher bulk modulus;pressure bandwidth;force bandwidth;load variations;hydraulic stiff actuation system;hydraulic system pressure;water bulk modulus;unconventional pressure range;Muscles;Bandwidth;Valves;Force;Regulators;Robots;Pressure measurement},

DOI = {10.1109/IROS.2010.5650432},

ISSN = {2153-0866},

MONTH = {Oct},

}

M. {Focchi}, E. {Guglielmino}, C. {Semini}, T. {Boaventura}, Y. {Yang}, D. G. {Caldwell}, Control of a hydraulically-actuated quadruped robot leg Full paper - BIBTEX Citation IEEE International Conference on Robotics and Automation, 4182-4188, 2010, View at publisher @INPROCEEDINGS{icra10focchi,

AUTHOR = {M. {Focchi} and E. {Guglielmino} and C. {Semini} and T. {Boaventura} and Y. {Yang} and D. G. {Caldwell}},

BOOKTITLE = {IEEE International Conference on Robotics and Automation},

TITLE = {Control of a hydraulically-actuated quadruped robot leg},

YEAR = {2010},

VOLUME = {},

NUMBER = {},

PAGES = {4182-4188},

KEYWORDS = {hydraulic actuators;legged locomotion;mobile robots;motion control;hydraulically-actuated quadruped robot leg;autonomous quadruped robot;hip joints;knee joints;actuation system;proportional valves;asymmetric cylinders;PED controller;linear quadratic regulator;feedback linearisation controller;Legged locomotion;Leg;MIMO;Linear feedback control systems;Frequency;Biological system modeling;Biological control systems;Robots;Hip;Knee},

DOI = {10.1109/ROBOT.2010.5509697},

ISSN = {1050-4729},

MONTH = {May},

}

M. Focchi, E. Guglielmino, C. Semini, T. Boaventura, Y. Yang, D. G. Caldwell, Control of a Hydraulically-Actuated Quadruped Robot Leg Full paper - BIBTEX Citation Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010, View at publisher @INPROCEEDINGS{focchi10icra,

AUTHOR = {Focchi, Michele and Guglielmino, Emanuele and Semini, Claudio and Boaventura, Thiago and Yang, Yousheng and Caldwell, Darwin G.},

TITLE = {Control of a Hydraulically-Actuated Quadruped Robot Leg},

BOOKTITLE = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},

YEAR = {2010},

OWNER = {CSemini},

TIMESTAMP = {2010.02.18},

DOI = {10.1109/ROBOT.2010.5509697},

}

C. Semini, N. G. Tsagarakis, E. Guglielmino, D. G. Caldwell, Design and Experimental Evaluation of a Hydraulically Actuated Robot Leg Full paper - BIBTEX Citation Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, View at publisher @INPROCEEDINGS{semini10iros,

AUTHOR = {Semini, Claudio and Tsagarakis, Nikos G. and Guglielmino, Emanuele and Caldwell, Darwin G.},

TITLE = {Design and Experimental Evaluation of a Hydraulically Actuated Robot Leg},

BOOKTITLE = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

YEAR = {2010},

OWNER = {CSemini},

TIMESTAMP = {2010.08.13},

DOI = {10.1109/IROS.2010.5651548},

}

T. Boaventura, C. Semini, E. Guglielmino, V. J. De Negri, Y. Yang, D. Caldwell, Gain Scheduling Control for the Hydraulic Actuation of the HyQ Robot Leg Full paper - BIBTEX Citation ABCM Symposium Series in Mechatronics, 673 -- 682, 2010, View at publisher @INPROCEEDINGS{cunha10,

AUTHOR = {Boaventura, T. and Semini, C. and Guglielmino, E. and De Negri, V. J. and Yang, Y. and Caldwell, D.},

TITLE = {Gain Scheduling Control for the Hydraulic Actuation of the HyQ Robot Leg},

BOOKTITLE = {ABCM Symposium Series in Mechatronics},

PUBLISHER = {ABCM - Brazilian Society of Mechanical Sciences and Engineering},

YEAR = {2010},

EDITOR = {De Negri, Victor Juliano and Perondi, Eduardo Adnr\E9 and Cunha, Mauro Andr\E9 Barbosa and Horikawa, Oswaldo},

VOLUME = {4},

PAGES = {673 -- 682},

ADDRESS = {Rio de Janeiro, RJ, Brazil},

NOTE = {ISBN 978-85-85769-47-5},

JORNAL = {ABCM Symposium Series in Mechatronics},

OWNER = {tboaventura},

TIMESTAMP = {2012.03.11},

URL = {http://www.abcm.org.br/pages/abcm_symposium_series_in_mechatronics_vol_4},

}

Y. Yang, E. Guglielmino, J. S. Dai, T. Boaventura, D. G. Caldwell, Modeling of a novel 3-way rotary type electro-hydraulic valve Full paper - BIBTEX Citation Proc. IEEE Int Information and Automation (ICIA) Conf, 1463--1468, 2010, View at publisher @INPROCEEDINGS{yang10,

AUTHOR = {Yang, Yousheng and Guglielmino, E. and Dai, J. S. and Boaventura, Thiago and Caldwell, Darwin G.},

TITLE = {Modeling of a novel 3-way rotary type electro-hydraulic valve},

BOOKTITLE = {Proc. IEEE Int Information and Automation (ICIA) Conf},

YEAR = {2010},

PAGES = {1463--1468},

DOI = {10.1109/ICINFA.2010.5512286},

OWNER = {tboaventura},

TIMESTAMP = {2012.03.11},

}

2008

C. Semini, N. G. Tsagarakis, B. Vanderborght, Y. Yang, D. G. Caldwell, HyQ -- Hydraulically Actuated Quadruped Robot: Hopping Leg Prototype BIBTEX Citation Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 593-599, 2008, View at publisher @INPROCEEDINGS{semini08hyqbiorob,

AUTHOR = {Semini, Claudio and Tsagarakis, Nikos G. and Vanderborght, Bram and Yang, Yousheng and Caldwell, Darwin G.},

TITLE = {HyQ -- Hydraulically Actuated Quadruped Robot: Hopping Leg Prototype},

BOOKTITLE = {Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)},

YEAR = {2008},

PAGES = {593-599},

OWNER = {CSemini},

TIMESTAMP = {2010.01.25},

DOI = {10.1109/BIOROB.2008.4762913},

}

Symposia and workshops

2019

G. Fink and C. Semini, Proprioceptive Sensor Dataset for Quadrupeds BIBTEX Citation Visual-Inertial Navigation: Challenges and Applications, IROS 2019 Workshop - Full paper @ARTICLE{fink19iros,

AUTHOR = {Fink, Geoff and Semini, Claudio},

TITLE = {Proprioceptive Sensor Dataset for Quadrupeds},

JOURNAL = {},

VOLUME = {},

YEAR = {2019},

URL = {https://iit-dlslab.github.io/papers/fink19iros.pdf},

}

2016

A. Radulescu, I. Havoutis, D. G. Caldwell, C. Semini, Optimization for Non-Periodic Dynamic Motions of Legged Systems BIBTEX Citation Human Friendly Robotics, 2016 - Full paper @CONFERENCE{radulescu16hfr,

AUTHOR = {Radulescu, Andreea and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {Optimization for Non-Periodic Dynamic Motions of Legged Systems},

JOURNAL = {Human Friendly Robotics},

YEAR = {2016},

OWNER = {aradulescu},

TIMESTAMP = {2016.12.05},

}

R. Orsolino, M. Focchi, D. G. Caldwell, C. Semini, An Asymmetric Model for Quadrupedal Bounding in Place BIBTEX Citation Human Friendly Robotics, 2016 - Full paper @CONFERENCE{orsolino16hfr,

AUTHOR = {Orsolino, Romeo and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {An Asymmetric Model for Quadrupedal Bounding in Place},

JOURNAL = {Human Friendly Robotics},

YEAR = {2016},

OWNER = {rorsolino},

TIMESTAMP = {2016.12.05},

}

2014

V. Barasuol, J. Buchli, J. V. De Negri, E. R. De Pieri, D. G. Caldwell, C. Semini, On Trajectory Generation and Active Impedance for Running Trotting BIBTEX Citation Dynamic Walking, 2014 - Full paper @CONFERENCE{barasuol14dw,

AUTHOR = {Barasuol, Victor and Buchli, Jonas and De Negri, Juliano Victor and De Pieri, Edson Roberto and Caldwell, Darwin G. and Semini, Claudio},

TITLE = {On Trajectory Generation and Active Impedance for Running Trotting},

JOURNAL = {Dynamic Walking},

YEAR = {2014},

OWNER = {vbarasuol},

TIMESTAMP = {2014.11.24},

}

2013

M. Frigerio, C. Semini, J. Buchli, D. G. Caldwell, Challenges in the software architecture design for autonomous legged robots Full paper - BIBTEX Citation Eighth workshop on Software Development and Integration in Robotics (ICRA SDIR VIII), 2013, View at publisher @CONFERENCE{frigerio13sdirviii,

AUTHOR = {Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.},

TITLE = {Challenges in the software architecture design for autonomous legged robots},

BOOKTITLE = {Eighth workshop on Software Development and Integration in Robotics (ICRA SDIR VIII)},

YEAR = {2013},

MONTH = {May},

NOTE = {accepted},

OWNER = {phd},

TIMESTAMP = {2013.04.22},

URL = {http://robotics.unibg.it/tcsoft/sdir2013/slides/frigerio.pdf},

}

H. Khan, C. Semini, D. G. Caldwell, Scaling of versatile quadruped robots for running trot Full paper - BIBTEX Citation Int. Symp. Adaptive Motion of Animals and Machines (AMAM), 2013, View at publisher @CONFERENCE{khan13amam,

TITLE = {Scaling of versatile quadruped robots for running trot},

AUTHOR = {Khan, Hamza and Semini, Claudio and Caldwell, Darwin G.},

BOOKTITLE = {Int. Symp. Adaptive Motion of Animals and Machines (AMAM)},

YEAR = {2013},

URL = {http://www.worldscientific.com/worldscibooks/10.1142/8913},

}

2012

M. Frigerio, J. Buchli, D. G. Caldwell, Model based code generation for kinematics and dynamics computations in robot controllers BIBTEX Citation Seventh workshop on Software Development and Integration in Robotics (ICRA SDIR VII), 2012 - Full paper @CONFERENCE{frigerio12sdirvii,

AUTHOR = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G.},

TITLE = {Model based code generation for kinematics and dynamics computations in robot controllers},

BOOKTITLE = {Seventh workshop on Software Development and Integration in Robotics (ICRA SDIR VII)},

YEAR = {2012},

MONTH = {May},

OPTIONS = {maxnames=7},

OWNER = {phd},

TIMESTAMP = {2014.01.09},

}

2011

T. Boaventura, C. Semini, J. Buchli, D. G. Caldwell, Actively-compliant Leg for Dynamic Locomotion BIBTEX Citation Int. Symp. Adaptive Motion of Animals and Machines (AMAM), 2011 - Full paper @CONFERENCE{boaventura11amam,

AUTHOR = {Boaventura, Thiago and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.},

TITLE = {Actively-compliant Leg for Dynamic Locomotion},

BOOKTITLE = {Int. Symp. Adaptive Motion of Animals and Machines (AMAM)},

YEAR = {2011},

OWNER = {csemini},

TIMESTAMP = {2011.09.15},

}

M. Frigerio, J. Buchli, D. G. Caldwell, A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms BIBTEX Citation 2nd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob), 2011 - Full paper @CONFERENCE{frigerio11kindsl,

AUTHOR = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. },

TITLE = {A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms},

BOOKTITLE = {2nd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob)},

YEAR = {2011},

MONTH = {September},

KEYWORDS = {DSL, software, kinematics, dynamics, code generation, real time},

OPTIONS = {maxnames=7},

OWNER = {phd},

TIMESTAMP = {2014.01.09},

}

C. Semini, J. Buchli, M. Frigerio, T. Boaventura, M. Focchi, E. Guglielmino, F. Cannella, N. G. Tsagarakis, D. G. Caldwell, HyQ -- A Dynamic Locomotion Research Platform BIBTEX Citation Int.l Workshop on Bio-Inspired Robots, Nantes (France), 2011 - Full paper @CONFERENCE{semini11bioinspnantes,

AUTHOR = {Semini, Claudio and Buchli, Jonas and Frigerio, Marco and Boaventura, Thiago and Focchi, Michele and Guglielmino, Emanuele and Cannella, Ferdinando and Tsagarakis, Nikos G. and Caldwell, Darwin G.},

TITLE = {HyQ -- A Dynamic Locomotion Research Platform},

BOOKTITLE = {Int.l Workshop on Bio-Inspired Robots, Nantes (France)},

YEAR = {2011},

OWNER = {csemini},

TIMESTAMP = {2011.09.16},

}

Book Chapters

D. G. Caldwell, N. Tsagarakis, C. Semini, Mechanism and Structures: Humanoids and Quadrupeds BIBTEX Citation Bioinspired Approaches for Human-Centric Technologies, 133-153, 2014, View at publisher @INCOLLECTION{raey,

AUTHOR = {Caldwell, Darwin G. and Tsagarakis, Nikos and Semini, Claudio},

TITLE = {Mechanism and Structures: Humanoids and Quadrupeds},

BOOKTITLE = {Bioinspired Approaches for Human-Centric Technologies},

PUBLISHER = {Springer International Publishing},

YEAR = {2014},

EDITOR = {Cingolani, Roberto},

PAGES = {133-153},

DOI = {10.1007/978-3-319-04924-3_5},

ISBN = {978-3-319-04923-6},

LANGUAGE = {English},

}

Patents

M. Focchi, E. Guglielmino, G. Pane, S. Cordasco, C. Tacchino, D. G. Caldwell, Device for generating electric power from a source of air or other gas or fluid under pressure , 2012 - , 2012 - BIBTEX Citation