Michele Focchi

According to our database, Michele Focchi authored at least 55 papers between 2010 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2024

Efficient Reinforcement Learning for 3D Jumping Monopods.

Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli

Sensors, August, 2024

Pseudo-kinematic trajectory control of tracked vehicles.

Michele Focchi, Daniele Fontanelli, Luigi Palopoli

CoRR, 2024

ALPINE: a climbing robot for operations in mountain environments.

Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Marco Frego, Angelika Peer, Luigi Palopoli

CoRR, 2024

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

Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini

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

2023

Reactive Landing Controller for Quadruped Robots.

Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini

IEEE Robotics Autom. Lett., November, 2023

An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion.

Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini

IEEE Trans. Robotics, October, 2023

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots.

Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi

Sensors, February, 2023

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

Angelo Bratta, Michele Focchi, Niraj Rathod, Claudio Semini

Robotics, February, 2023

Efficient Reinforcement Learning for Jumping Monopods.

Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli

CoRR, 2023

CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments.

Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

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

Michele Focchi, Francesco Roscia, Claudio Semini

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

2022

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

Angelo Bratta, Michele Focchi, Niraj Rathod, Mario Zanon, Alberto Bemporad, Claudio Semini

CoRR, 2022

WoLF: the Whole-body Locomotion Framework for Quadruped Robots.

Gennaro Raiola, Michele Focchi, Enrico Mingo Hoffman

CoRR, 2022

Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots.

Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini

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

2021

Mobility-enhanced MPC for Legged Locomotion on Rough Terrain.

Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad

CoRR, 2021

Model Predictive Control With Environment Adaptation for Legged Locomotion.

Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad

IEEE Access, 2021

2020

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

Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini

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

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

Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Darwin G. Caldwell, Claudio Semini

IEEE Trans. Robotics, 2020

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

Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

IEEE Trans. Robotics, 2020

STANCE: Locomotion Adaptation Over Soft Terrain.

Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini

IEEE Trans. Robotics, 2020

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

Gennaro Raiola, Enrico Mingo Hoffman, Michele Focchi, Nikos G. Tsagarakis, Claudio Semini

Frontiers Robotics AI, 2020

Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots.

Michele Focchi, Daniele Pucci, Andrea Del Prete

Frontiers Robotics AI, 2020

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

Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini

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

2019

Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs.

Octavio Antonio Villarreal-Magaña, Victor Barasuol, Marco Camurri, Luca Franceschi, Michele Focchi, Massimiliano Pontil, Darwin G. Caldwell, Claudio Semini

IEEE Robotics Autom. Lett., 2019

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

Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini

IEEE Robotics Autom. Lett., 2019

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

Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini

CoRR, 2019

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

Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Claudio Semini

CoRR, 2019

2018

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

Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini

IEEE Robotics Autom. Lett., 2018

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

Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini

IEEE Robotics Autom. Lett., 2018

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

Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini

CoRR, 2018

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

Octavio Antonio Villarreal-Magaña, Victor Barasuol, Marco Camurri, Michele Focchi, Luca Franceschi, Massimiliano Pontil, Darwin G. Caldwell, Claudio Semini

CoRR, 2018

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

Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini

CoRR, 2018

2017

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

Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini

CoRR, 2017

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

Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini

CoRR, 2017

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

Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin G. Caldwell, Claudio Semini

Auton. Robots, 2017

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

Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin G. Caldwell, Claudio Semini, Maurice F. Fallon

Proceedings of the Robotics: Science and Systems XIII, 2017

Online payload identification for quadruped robots.

Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini

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.

Michele Focchi, Roy Featherstone, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini

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

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

Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin G. Caldwell, Claudio Semini

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

2016

Validation of computer simulations of the HyQ robot.

Marco Frigerio, Victor Barasuol, Michele Focchi, Claudio Semini

CoRR, 2016

Towards a multi-legged mobile manipulator.

Bilal Ur Rehman, Michele Focchi, Jinoh Lee, Houman Dallali, Darwin G. Caldwell, Claudio Semini

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

Hierarchical planning of dynamic movements without scheduled contact sequences.

Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

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.

Hiroaki Kuwahara, Fujio Terai, Michele Focchi, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Claudio Semini

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

2015

Towards versatile legged robots through active impedance control.

Claudio Semini, Victor Barasuol, Thiago Boaventura Cunha, Marco Frigerio, Michele Focchi, Darwin G. Caldwell, Jonas Buchli

Int. J. Robotics Res., 2015

Slip Detection and Recovery for Quadruped Robots.

Michele Focchi, Victor Barasuol, Marco Frigerio, Darwin G. Caldwell, Claudio Semini

Proceedings of the Robotics Research, 2015

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

Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

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

2014

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

Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell, Claudio Semini

Intell. Serv. Robotics, 2014

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

Michele Focchi, Gustavo A. Medrano-Cerda, Thiago Boaventura Cunha, Marco Frigerio, Claudio Semini, Jonas Buchli, Darwin G. Caldwell

CoRR, 2014

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

Alexander W. Winkler, Ioannis Havoutis, Stéphane Bazeille, Jesús Ortiz, Michele Focchi, Rüdiger Dillmann, Darwin G. Caldwell, Claudio Semini

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

2013

Vision enhanced reactive locomotion control for trotting on rough terrain.

Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Claudio Semini, Darwin G. Caldwell

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

2012

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

Thiago Boaventura Cunha, Michele Focchi, Marco Frigerio, Jonas Buchli, Claudio Semini, Gustavo A. Medrano-Cerda, Darwin G. Caldwell

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

Dynamic torque control of a hydraulic quadruped robot.

Thiago Boaventura Cunha, Claudio Semini, Jonas Buchli, Marco Frigerio, Michele Focchi, Darwin G. Caldwell

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

Torque-control based compliant actuation of a quadruped robot.

Michele Focchi, Thiago Boaventura, Claudio Semini, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell

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

2010

Water/air performance analysis of a fluidic muscle.

Michele Focchi, Emanuele Guglielmino, Claudio Semini, Alberto Parmiggiani, Nikolaos G. Tsagarakis, Bram Vanderborght, Darwin G. Caldwell

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

Control of a hydraulically-actuated quadruped robot leg.

Michele Focchi, Emanuele Guglielmino, Claudio Semini, Thiago Boaventura Cunha, Yousheng Yang, Darwin G. Caldwell

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