Claudio Semini

João Carlos Virgolino Soares

CoRR, 2024

Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots.

[BibT_eX]

[DOI]

CoRR, 2024

Creating a Segmented Pointcloud of Grapevines by Combining Multiple Viewpoints Through Visual Odometry.

[BibT_eX]

[DOI]

Michael Adlerstein

Angelo Bratta

CoRR, 2024

Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning.

[BibT_eX]

[DOI]

CoRR, 2024

PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control.

[BibT_eX]

[DOI]

CoRR, 2024

Leveraging Symmetry in RL-based Legged Locomotion Control.

[BibT_eX]

[DOI]

Zhi Su

Xiaoyu Huang

Daniel Felipe Ordoñez Apraez

CoRR, 2024

Accelerating Model Predictive Control for Legged Robots through Distributed Optimization.

[BibT_eX]

[DOI]

CoRR, 2024

On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion.

[BibT_eX]

[DOI]

CoRR, 2024

Morphological Symmetries in Robotics.

[BibT_eX]

[DOI]

Daniel Felipe Ordoñez Apraez

Francesc Moreno-Noguer

Massimiliano Pontil

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

Proceedings of the IEEE International Conference on Robotics and Automation, 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