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 (ICRA, 2020)

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)

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)

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 (ICRA, 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)

Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots. - Angelo Bratta; Michele Focchi; Niraj Rathod; Claudio Semini (Robotics, 2023)

Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots. - Victor Barasuol; Sinan Emre; Vivian Suzano Medeiros; Angelo Bratta; Claudio Semini (ICRA, 2024)

Accelerating Model Predictive Control for Legged Robots through Distributed Optimization. - Lorenzo Amatucci; Giulio Turrisi; Angelo Bratta; Victor Barasuol; Claudio Semini (IROS, 2024)

Design of a Container Mechanism for Trash Collection on Quadruped Robots. - Amir H. Rad; Matteo Villa; Angelo Bratta; Matteo Zoppi; Claudio Semini (MESA, 2024)

ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. - Angelo Bratta; Avadesh Meduri; Michele Focchi; Ludovic Righetti; Claudio Semini (UR, 2024)

Creating a Segmented Pointcloud of Grapevines by Combining Multiple Viewpoints Through Visual Odometry. - Michael Adlerstein; Angelo Bratta; João Carlos Virgolino Soares; Giovanni Dessy; Miguel Fernandes; Matteo Gatti; Claudio Semini (CoRR, 2024)

VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal. - Lorenzo Amatucci; Giulio Turrisi; Angelo Bratta; Victor Barasuol; Claudio Semini (J. Field Robotics, 2024)

Grapevine winter pruning: Merging 2D segmentation and 3D point clouds for pruning point generation. - Miguel Fernandes; Juan D. Gamba; Francesco Pelusi; Angelo Bratta; Darwin G. Caldwell; Stefano Poni; Matteo Gatti; Claudio Semini (Comput. Electron. Agric., 2025)

SANDRO: a Robust Solver with a Splitting Strategy for Point Cloud Registration. - Michael Adlerstein; João Carlos Virgolino Soares; Angelo Bratta; Claudio Semini (CoRR, 2025)