126 publications found

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  • 2020
    *Villarreal O.iit

    Bridging Vision and Dynamic Legged Locomotion

    PhD Thesis
    PhD Thesis
  • 2020
    Orsolino R.iit , Focchi M.iit , Caron S. , Raiola G.iit , Barasuol V.iit , Caldwell D.iit , Semini C.iit

    Feasible Region: An Actuation-Aware Extension of the Support Region

    IEEE Transactions on Robotics, vol. 36, (no. 4), pp. 1239-1255
    Article
  • 2020
    Focchi M.iit , Orsolino R.iit , Camurri M.iit , Barasuol V.iit , Mastalli C.iit , Caldwell D.G.iit , Semini C.iit

    Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality

    Springer Tracts in Advanced Robotics, vol. 132, pp. 165-209
    Book Chapter
  • 2020
    Mastalli C.iit , Havoutis I. , Focchi M.iit , Caldwell D.G.iit , Semini C.iit

    Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control

    IEEE Transactions on Robotics, vol. 36, (no. 6), pp. 1635-1648
    Article
  • 2020
    Villarreal O.iit , Barasuol V.iit , Wensing P.M.iit , Caldwell D.G.iit , Semini C.iit

    MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 2436-2442
    Conference Paper
  • 2020
    *Villarreal O.iit , Barasuol V.iit , Wensing P. , Caldwell D.iit , Semini C.iit

    MPC-Based Controller with Terrain Insight for Dynamic Legged Locomotion

    IEEE International Conference on Robotics and Automation 2020 (ICRA)
    Conference Paper
  • 2020
    Bratta A.iit , Orsolino R.iit , Focchi M.iit , Barasuol V.iit , Muscolo G.G.iit , Semini C.iit

    On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 1417-1423
    Conference Paper
  • 2020
    Esteban D.iit , Villarreal O.iit , Fahmi S.iit , Semini C.iit , Barasuol V.iit

    On the influence of body velocity in foothold adaptation for dynamic legged locomotion via cnns

    Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020, pp. 353-360
    Conference Paper
  • 2020
    *Fahmi S.iit , Focchi M. , Radulescu A. , Fink G. , Barasuol V.iit , Semini C.iit

    Soft Terrain Adaptation for HyQ

    Dynamic Walking
    Poster
  • 2020
    Urbain G. , Barasuol V.iit , Semini C.iit , Dambre J. , Wyffels F.

    Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 6127-6133
    Conference Paper
  • 2020
    *Fahmi S.iit , Focchi M.iit , Radulescu A.iit , Fink G.iit , Barasuol V.iit , Semini C.iit

    STANCE: Locomotion Adaptation over Soft Terrain

    IEEE Transactions on Robotics, vol. 36, (no. 2), pp. 443-457
    Article
  • 2020
    Fink G.iit , Semini C.iit

    The dls quadruped proprioceptive sensor dataset

    Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020, pp. 253-260
    Conference Paper
  • 2019
    *Orsolino R.iit

    Actuation-Aware Simplified Dynamic Models for Robotic Legged Locomotion

    PhD Thesis
    PhD Thesis
  • 2019
    Reinke A.iit , Camurri M.iit , Semini C.iit

    A Factor Graph Approach to Multi-camera Extrinsic Calibration on Legged Robots

    Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019, pp. 391-394
    Conference Paper
  • 2019
    *Semini C.iit , Barasuol V.iit , Focchi M.iit , Boelens C. , Emara M.iit , Casella S. , Villarreal O. , Orsolino R. , Fink G.iit , Fahmi S.iit , Medrano-Cerda G. , Caldwell D.G.iit , Sangiah D. , Lesniewski J. , Fulton K. , Donadon M. , Baker M.

    Brief Introduction to the Quadruped Robot HyQReal

    Istituto di Robotica e Macchine Intelligenti ​3D
    Abstract Report
  • 2019
    Stulp F. , Raiola G.iit

    DmpBbo: A versatile Python/C++ library for Function Approximation, Dynamical Movement Primitives, and Black-Box Optimization

    The journal of open source software
    Article
  • 2019
    Magana O.A.V.iit , Barasuol V.iit , Camurri M.iit , Franceschi L.iit , Focchi M.iit , Pontil M.iit , Caldwell D.G.iit , Semini C.iit

    Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs

    IEEE Robotics and Automation Letters, vol. 4, (no. 2), pp. 2140-2147
    Article
  • 2019
    *Focchi M.iit , Orsolino R. , Camurri M. , Barasuol V. , Mastalli C. , Caldwell D.G.iit

    Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality

    Advances in Robotics Research: From Lab to Market, Publisher: Springer, Cham
    Book Chapter
  • 2019
    *Barasuol V.iit , Fink G.iit , Focchi M.iit , Caldwell D. G.iit , Semini C.iit

    On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots

    The 22nd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines, pp. 8
    Conference Paper
  • 2019
    *Fahmi S.iit , Mastalli C. , Focchi M.iit , Semini C.iit

    Passive Whole-Body Control for Quadruped Robots: Experimental Validation over Challenging Terrain

    IEEE Robotics and Automation Letters, vol. 4, (no. 3), pp. 2553-2560
    Article

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