Claudio Semini

João Carlos Virgolino Soares

Carlos Mastalli

CoRR, 2024

ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion.

[BibT_eX]

[DOI]

Proceedings of the 21st International Conference on Ubiquitous Robots, 2024

Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation.

[BibT_eX]

[DOI]

Gabriel Fischer Abati

Vivian Suzano Medeiros

Marco Antonio Meggiolaro

Daniel Felipe Ordoñez Apraez

Proceedings of the 21st International Conference on Ubiquitous Robots, 2024

Design of a Container Mechanism for Trash Collection on Quadruped Robots.

[BibT_eX]

[DOI]

Proceedings of the 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, 2024

Dynamics harmonic analysis of robotic systems: Application in data-driven Koopman modelling.

[BibT_eX]

[DOI]

Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024

Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots.

[BibT_eX]

[DOI]

Sinan Emre

Vivian Suzano Medeiros

Angelo Bratta

Hilton Marques Souza Santana

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions.

[BibT_eX]

[DOI]

João Carlos Virgolino Soares

Ylenia Nisticò

Marco Antonio Meggiolaro

Proceedings of the 23rd IEEE-RAS International Conference on Humanoid Robots, 2024

2023

Reactive Landing Controller for Quadruped Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., November, 2023

An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, October, 2023

Editorial: Robotics in extreme environments, volume II.

[BibT_eX]

[DOI]

Frontiers Robotics AI, October, 2023

ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, April, 2023

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots.

[BibT_eX]

[DOI]

Sensors, February, 2023

Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots.

[BibT_eX]

[DOI]

Robotics, February, 2023

Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion.

[BibT_eX]

[DOI]

CoRR, 2023

Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots.

[BibT_eX]

[DOI]

Lee Milburn

Juan Gamba

CoRR, 2023

Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller.

[BibT_eX]

[DOI]

IROS, 2023

Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators.

[BibT_eX]

[DOI]

IROS, 2023

Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Autonomous Robot Systems and Competitions, 2023

SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors.

[BibT_eX]

[DOI]

Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

Locosim: An Open-Source Cross-Platform Robotics Framework.

[BibT_eX]

[DOI]

Francesco Roscia

Proceedings of the Synergetic Cooperation Between Robots and Humans - Proceedings of the CLAWAR 2023 Conference, 2023

Stair-Climbing Charts: On the Optimal Body Height for Quadruped Robots to Walk on Stairs.

[BibT_eX]

[DOI]

Sinan Emre

Proceedings of the Synergetic Cooperation Between Robots and Humans - Proceedings of the CLAWAR 2023 Conference, 2023

2022

On Slip Detection for Quadruped Robots.

[BibT_eX]

[DOI]

Sensors, 2022

Governor: a Reference Generator for Nonlinear Model Predictive Control in Legged Robots.

[BibT_eX]

[DOI]

CoRR, 2022

A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots.

[BibT_eX]

[DOI]

Giovanni Gerardo Muscolo

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021

Editorial: Robotics in Extreme Environments.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2021

Towards Precise Pruning Points Detection using Semantic-Instance-Aware Plant Models for Grapevine Winter Pruning Automation.

[BibT_eX]

[DOI]

Miguel Fernandes

Antonello Scaldaferri

CoRR, 2021

Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation.

[BibT_eX]

[DOI]

Miguel Fernandes

Antonello Scaldaferri

CoRR, 2021

Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation.

[BibT_eX]

[DOI]

CoRR, 2021

Mobility-enhanced MPC for Legged Locomotion on Rough Terrain.

[BibT_eX]

[DOI]

CoRR, 2021

On State Estimation for Legged Locomotion over Soft Terrain.

[BibT_eX]

[DOI]

Shamel Fahmi

Geoff Fink

CoRR, 2021

Effect of compliance on morphological control of dynamic locomotion with HyQ.

[BibT_eX]

[DOI]

Auton. Robots, 2021

Model Predictive Control With Environment Adaptation for Legged Locomotion.

[BibT_eX]

[DOI]

IEEE Access, 2021

2020

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

[BibT_eX]

[DOI]

Proceedings of the Advances in Robotics Research: From Lab to Market, 2020

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

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2020

Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2020

STANCE: Locomotion Adaptation Over Soft Terrain.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2020

A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2020

Line Walking and Balancing for Legged Robots with Point Feet.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Proprioceptive Sensor Fusion for Quadruped Robot State Estimation.

[BibT_eX]

[DOI]

Geoff Fink

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

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

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

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

[BibT_eX]

[DOI]

Giovanni Gerardo Muscolo

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion.

[BibT_eX]

[DOI]

Patrick M. Wensing

Bernardo Aceituno-Cabezas

CoRR, 2019

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization.

[BibT_eX]

[DOI]

Gerardo Fernández-López

CoRR, 2019

Feasible Region: an Actuation-Aware Extension of the Support Region.

[BibT_eX]

[DOI]

CoRR, 2019

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

[BibT_eX]

[DOI]

Andrzej Reinke

Marco Camurri

Bernardo Aceituno-Cabezas

Proceedings of the 3rd IEEE International Conference on Robotic Computing, 2019

2018

Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization.

[BibT_eX]

[DOI]

Gerardo Fernández-López

IEEE Robotics Autom. Lett., 2018

Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2018

Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain.

[BibT_eX]

[DOI]

CoRR, 2018

Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks.

[BibT_eX]

[DOI]

CoRR, 2018

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

[BibT_eX]

[DOI]

CoRR, 2018

Special Issue on 'New Hydraulic Components for Tough Robots'.

[BibT_eX]

[DOI]

Adv. Robotics, 2018

2017

Towards Scalable Strain Gauge-Based Joint Torque Sensors.

[BibT_eX]

[DOI]

Sensors, 2017

Active camera stabilization to enhance the vision of agile legged robots.

[BibT_eX]

[DOI]

Robotica, 2017

Bringing Together Researchers in Robot Mechanisms and Design [TC Spotlight].

[BibT_eX]

[DOI]

IEEE Robotics Autom. Mag., 2017

Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2017

A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes.

[BibT_eX]

[DOI]

CoRR, 2017

The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP).

[BibT_eX]

[DOI]

CoRR, 2017

High-slope terrain locomotion for torque-controlled quadruped robots.

[BibT_eX]

[DOI]

Auton. Robots, 2017

Automatic differentiation of rigid body dynamics for optimal control and estimation.

[BibT_eX]

[DOI]

Adv. Robotics, 2017

Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIII, 2017

Online payload identification for quadruped robots.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Viscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Kinematic design of a configurable terrain simulator platform for robotic legs.

[BibT_eX]

[DOI]

Proceedings of the 2nd International Conference on Advanced Robotics and Mechatronics, 2017

Learning optimal gait parameters and impedance profiles for legged locomotion.

[BibT_eX]

[DOI]

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016

Validation of computer simulations of the HyQ robot.

[BibT_eX]

[DOI]

CoRR, 2016

Fast derivatives of rigid body dynamics for control, optimization and estimation.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Simulation, 2016

Study on the morphological parameters of quadruped robot designs considering ditch traversability.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics, 2016

Towards a multi-legged mobile manipulator.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Hierarchical planning of dynamic movements without scheduled contact sequences.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

A design method of a robust controller for hydraulic actuation with disturbance observers.

[BibT_eX]

[DOI]

Hiroaki Kuwahara

Fujio Terai

Proceedings of the IEEE 14th International Workshop on Advanced Motion Control, 2016

2015

Model-Based Hydraulic Impedance Control for Dynamic Robots.

[BibT_eX]

[DOI]

Jonas Buchli

IEEE Trans. Robotics, 2015

Towards versatile legged robots through active impedance control.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2015

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ.

[BibT_eX]

[DOI]

Auton. Robots, 2015

On-line and on-board planning and perception for quadrupedal locomotion.

[BibT_eX]

[DOI]

Proceedings of the 2015 IEEE International Conference on Technologies for Practical Robot Applications, 2015

Development of the lightweight hydraulic quadruped robot - MiniHyQ.

[BibT_eX]

[DOI]

Proceedings of the 2015 IEEE International Conference on Technologies for Practical Robot Applications, 2015

Active compliance hybrid zero dynamics control of bounding on HyQ.

[BibT_eX]

[DOI]

Xin Liu

Ioannis Poulakakis

Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics, 2015

Real-time depth and inertial fusion for local SLAM on dynamic legged robots.

[BibT_eX]

[DOI]

Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2015

Slip Detection and Recovery for Quadruped Robots.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, 2015

Reactive trotting with foot placement corrections through visual pattern classification.

[BibT_eX]

[DOI]

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Bio-inspired knee joint mechanism for a hydraulic quadruped robot.

[BibT_eX]

[DOI]

Proceedings of the 6th International Conference on Automation, Robotics and Applications, 2015

Additive manufacturing for agile legged robots with hydraulic actuation.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Advanced Robotics, 2015

2014

Quadruped robot trotting over irregular terrain assisted by stereo-vision.

[BibT_eX]

[DOI]

Intell. Serv. Robotics, 2014

Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops.

[BibT_eX]

[DOI]

CoRR, 2014

Modelling Legged Robot Multi-Body Dynamics Using Hierarchical Virtual Prototype Design.

[BibT_eX]

[DOI]

Proceedings of the Biomimetic and Biohybrid Systems - Third International Conference, 2014

Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013

Vision enhanced reactive locomotion control for trotting on rough terrain.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE Conference on Technologies for Practical Robot Applications, 2013

AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2013

A comparison of search-based planners for a legged robot.

[BibT_eX]

[DOI]

Proceedings of the 9th Workshop on Robot Motion and Control, 2013

Is Active Impedance the Key to a Breakthrough for Legged Robots?

[BibT_eX]

[DOI]

Marco Frigerio

Jonas Buchli

Proceedings of the Robotics Research, 2013

Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ).

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Stability and performance of the compliance controller of the quadruped robot HyQ.

[BibT_eX]

[DOI]

Jonas Buchli

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

A reactive controller framework for quadrupedal locomotion on challenging terrain.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Quadrupedal trotting with active compliance.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Mechatronics, 2013

2012

On the role of load motion compensation in high-performance force control.

[BibT_eX]

[DOI]

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Dynamic torque control of a hydraulic quadruped robot.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Torque-control based compliant actuation of a quadruped robot.

[BibT_eX]

[DOI]

Proceedings of the 12th IEEE International Workshop on Advanced Motion Control, 2012

2010

A 3-way valve-controlled spring assisted rotary actuator.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot.

[BibT_eX]

[DOI]

Emanuele Guglielmino

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Power hydraulics - switched mode control of hydraulic actuation.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Water/air performance analysis of a fluidic muscle.

[BibT_eX]

[DOI]

Bram Vanderborght

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Control of a hydraulically-actuated quadruped robot leg.

[BibT_eX]

[DOI]

Emanuele Guglielmino

Yousheng Yang

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009

Leg mechanisms for hydraulically actuated robots.

[BibT_eX]

[DOI]

Yousheng Yang

Emanuele Guglielmino

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping.

[BibT_eX]

[DOI]

Bram Vanderborght

Ronald Van Ham