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Claudio Semini

Researcher Tenure Track - Principal Investigator
Head of the Dynamic Legged Systems lab

Research Line

Dynamic Legged Systems


IIT Central Research Labs Genova


Via Morego 30
+39 010 2898 283
+39 010 71781 912
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Claudio Semini is the head of IIT's Dynamic Legged Systems (DLS) lab. He holds an MSc degree from ETH Zurich in electrical engineering and information technology. He spent 2 years in Tokyo for his research: MSc thesis at the Hirose Lab at Tokyo Tech and staff engineer at the Toshiba R&D center in Kawasaki working on mobile service robotics. During his PhD and subsequent PostDoc at IIT, he developed the quadruped robot HyQ and worked on its control. Since 2012 he leads the DLS lab. His research focus lies on the construction and control of highly dynamic and versatile legged robots in real-world environments. He has published over 100 articles in journals and peer-reviewed conferences. He is a co-founder and chair of the IEEE RAS Technical Committee on Robot Mechanisms and Design. He was the coordinator of the EU-funded ECHORD++ experiment HyQ-REAL ( and currently heads the IIT side of the Moog/IIT joint lab (


Finalist, IEEE-RAS TC on Model-Based Optimiz. for Robotics Best Paper Award, 2020 for the paper "STANCE: Locomotion Adaptation over Soft Terrain"

Finalist, IEEE-RAS Ital. Chapter Fabrizio Flacco Young Author Best Paper Award, 2020 for the paper "STANCE: Locomotion Adaptation over Soft Terrain"

Highly Commended Paper award at CLAWAR 2019 for the paper "On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots"

Best student paper award at CLAWAR 2017 conference for the paper: "A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding".

Best paper award at IEEE SIMPAR 2016 conference for the paper: "Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation" (in collaboration with ADRL of ETH Zurich)

Commended paper award at CLAWAR 2015 for the paper: "Lidar-based navigation-level path planning for field-capable legged robots"


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