Robot control for dummies: Insights and examples using OpenSoT. - Enrico Mingo Hoffman; Alessio Rocchi; Arturo Laurenzi; Nikos G. Tsagarakis (Humanoids, 2017)

XBotCore: A Real-Time Cross-Robot Software Platform. - Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Alessio Rocchi; Darwin G. Caldwell; Nikos G. Tsagarakis (IRC, 2017)

Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks. - Lorenzo Baccelliere; Navvab Kashiri; Luca Muratore; Arturo Laurenzi; Malgorzata Kamedula; Alessio Margan; Stefano Cordasco; Jörn Malzahn; Nikos G. Tsagarakis (IROS, 2017)

Balancing Control Through Post-Optimization of Contact Forces. - Arturo Laurenzi; Enrico Mingo Hoffman; Matteo Parigi Polverini; Nikos G. Tsagarakis (Humanoids, 2018)

Bi-Manual Articulated Robot Teleoperation using an External RGB-D Range Sensor. - Emily-Jane Rolley-Parnell; Dimitrios Kanoulas; Arturo Laurenzi; Brian Delhaisse; Leonel Dario Rozo; Darwin G. Caldwell; Nikos G. Tsagarakis (ICARCV, 2018)

A Whole Body Attitude Stabilizer for Hybrid Wheeled-Legged Quadruped Robots. - Juan Alejandro Castano; Enrico Mingo Hoffman; Arturo Laurenzi; Luca Muratore; Malgorzata Karnedula; Nikos G. Tsagarakis (ICRA, 2018)

Multi-Priority Cartesian Impedance Control Based on Quadratic Programming Optimization. - Enrico Mingo Hoffman; Arturo Laurenzi; Luca Muratore; Nikos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2018)

Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles. - Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Lorenzo Baccelliere; Navvab Kashiri; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2018)

Towards a Robot Hardware Abstraction Layer (R-Hal) Leveraging the XBot Software Framework. - Giuseppe Francesco Rigano; Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IRC, 2018)

Quadrupedal walking motion and footstep placement through Linear Model Predictive Control. - Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2018)

A Fail-Safe Semi-Centralized Impedance Controller: Validation on a Parallel Kinematics Ankle. - Francesco Ruscelli; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2018)

A mixed real-time robot hardware abstraction layer (R-HAL). - Giuseppe Francesco Rigano; Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (Encycl. Semantic Comput. Robotic Intell., 2018)

Terrain Segmentation and Roughness Estimation using RGB Data: Path Planning Application on the CENTAURO Robot. - Vivekanandan Suryamurthy; Vignesh Sushrutha Raghavan; Arturo Laurenzi; Nikos G. Tsagarakis; Dimitrios Kanoulas (Humanoids, 2019)

CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework. - Arturo Laurenzi; Enrico Mingo Hoffman; Luca Muratore; Nikos G. Tsagarakis (ICRA, 2019)

A Self-Modulated Impedance Multimodal Interaction Framework for Human-Robot Collaboration. - Luca Muratore; Arturo Laurenzi; Nikos G. Tsagarakis (ICRA, 2019)

Whole-Body Stabilization for Visual-Based Box Lifting with the COMAN+ Robot. - Arturo Laurenzi; Dimitrios Kanoulas; Enrico Mingo Hoffman; Luca Muratore; Nikolaos G. Tsagarakis (IRC, 2019)

Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot. - Vignesh Sushrutha Raghavan; Dimitrios Kanoulas; Arturo Laurenzi; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2019)

Synchronizing Virtual Constraints and Preview Controller: a Walking Pattern Generator for the Humanoid Robot COMAN+. - Francesco Ruscelli; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2019)

CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform. - Navvab Kashiri; Lorenzo Baccelliere; Luca Muratore; Arturo Laurenzi; Zeyu Ren; Enrico Mingo Hoffman; Malgorzata Kamedula; Giuseppe Francesco Rigano; Jörn Malzahn; Stefano Cordasco; Paolo Guria; Alessio Margan; et al. (IEEE Robotics Autom. Lett., 2019)

Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids. - Matteo Parigi Polverini; Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2019)

Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System. - Tobias Klamt; Malgorzata Kamedula; Hakan Karaoguz; Navvab Kashiri; Arturo Laurenzi; Christian Lenz; Daniele Leonardis; Enrico Mingo Hoffman; Luca Muratore; Dmytro Pavlichenko; Francesco Porcini; Diego Rodriguez; et al. (IEEE Robotics Autom. Mag., 2019)

A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot. - Francesco Ruscelli; Matteo Parigi Polverini; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2020)

Remote mobile manipulation with the centauro robot: Full-body telepresence and autonomous operator assistance. - Tobias Klamt; Max Schwarz; Christian Lenz; Lorenzo Baccelliere; Domenico Buongiorno; Torben Cichon; Antonio Di Guardo; David Droeschel; Massimiliano Gabardi; Malgorzata Kamedula; Navvab Kashiri; Arturo Laurenzi; et al. (J. Field Robotics, 2020)

A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid Robots. - Enrico Mingo Hoffman; Matteo Parigi Polverini; Arturo Laurenzi; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

An Augmented Kinematic Model for the Cartesian Control of the Hybrid Wheeled-Legged Quadrupedal Robot CENTAURO. - Arturo Laurenzi; Enrico Mingo Hoffman; Matteo Parigi Polverini; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator. - Matteo Parigi Polverini; Arturo Laurenzi; Enrico Mingo Hoffman; Francesco Ruscelli; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

The XBot Real-Time Software Framework for Robotics: From the Developer to the User Perspective. - Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2020)

Motion Control of the Hybrid Wheeled-Legged Quadruped Robot Centauro. - Arturo Laurenzi (2020)

Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion. - Italo Belli; Matteo Parigi Polverini; Arturo Laurenzi; Enrico Mingo Hoffman; Paolo Rocco; Nikolaos G. Tsagarakis (HUMANOIDS, 2021)

Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers. - Enrico Mingo Hoffman; Matteo Parigi Polverini; Arturo Laurenzi; Nikos G. Tsagarakis (ICRA, 2021)

Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. - Matteo Parigi Polverini; Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (ICRA, 2021)

Locomotion Adaptation in Heavy Payload Transportation Tasks with the Quadruped Robot CENTAURO. - Xinyuan Zhao; Yangwei You; Arturo Laurenzi; Navvab Kashiri; Nikos G. Tsagarakis (ICRA, 2021)

NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints. - Luca Rossini; Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (Frontiers Robotics AI, 2021)

Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots. - Francesco Ruscelli; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (Frontiers Robotics AI, 2021)

Optimal Modulation of Joint Stiffness with Guaranteed Stability for Quadruped Robots. - Xinyuan Zhao; Yuqiang Wu; Arturo Laurenzi; Nikos G. Tsagarakis (AIM, 2022)

Task Driven Online Impedance Modulation. - Liana Bertoni; Luca Muratore; Arturo Laurenzi; Nikos G. Tsagarakis (Humanoids, 2022)

Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload. - Ioannis Dadiotis; Arturo Laurenzi; Nikos G. Tsagarakis (Humanoids, 2022)

An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments. - Maolin Lei; Liang Lu; Arturo Laurenzi; Luca Rossini; Edoardo Romiti; Jörn Malzahn; Nikos G. Tsagarakis (Humanoids, 2022)

Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies. - Luca Rossini; Paolo Ferrari; Francesco Ruscelli; Arturo Laurenzi; Nikos G. Tsagarakis; Enrico Mingo Hoffman (CoRR, 2022)

Prototyping fast and agile motions for legged robots with Horizon. - Francesco Ruscelli; Arturo Laurenzi; Nikos G. Tsagarakis; Enrico Mingo Hoffman (CoRR, 2022)

Horizon: A Trajectory Optimization Framework for Robotic Systems. - Francesco Ruscelli; Arturo Laurenzi; Nikos G. Tsagarakis; Enrico Mingo Hoffman (Frontiers Robotics AI, 2022)

Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains. - Xinyuan Zhao; Yuqiang Wu; Yangwei You; Arturo Laurenzi; Nikolaos G. Tsagarakis (Frontiers Robotics AI, 2022)

TelePhysicalOperation: Remote Robot Control Based on a Virtual "Marionette" Type Interaction Interface. - Davide Torielli; Luca Muratore; Arturo Laurenzi; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2022)

Whole-Body MPC for Highly Redundant Legged Manipulators: Experimental Evaluation with a 37 DoF Dual-Arm Quadruped. - Ioannis Dadiotis; Arturo Laurenzi; Nikos G. Tsagarakis (Humanoids, 2023)

Optimal Design of Agile Jumping Maneuvers for a Single Leg System. - Andrea Patrizi; Francesco Ruscelli; Arturo Laurenzi; Nikos G. Tsagarakis (Humanoids, 2023)

Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. - Enrico Mingo Hoffman; Arturo Laurenzi; Francesco Ruscelli; Luca Rossini; Lorenzo Baccelliere; Davide Antonucci; Alessio Margan; Paolo Guria; Marco Migliorini; Stefano Cordasco; Gennaro Raiola; Luca Muratore; et al. (ICRA, 2023)

Multi-contact planning and control for humanoid robots: Design and validation of a complete framework. - Paolo Ferrari; Luca Rossini; Francesco Ruscelli; Arturo Laurenzi; Giuseppe Oriolo; Nikos G. Tsagarakis; Enrico Mingo Hoffman (Robotics Auton. Syst., 2023)

The XBot2 real-time middleware for robotics. - Arturo Laurenzi; Davide Antonucci; Nikos G. Tsagarakis; Luca Muratore (Robotics Auton. Syst., 2023)

A Unified Multimodal Interface for the RELAX High-Payload Collaborative Robot. - Luca Muratore; Arturo Laurenzi; Alessio De Luca; Liana Bertoni; Davide Torielli; Lorenzo Baccelliere; Edoardo Del Bianco; Nikos G. Tsagarakis (Sensors, 2023)

A High-Force Gripper with Embedded Multimodal Sensing for Powerful and Perception Driven Grasping. - Edoardo Del Bianco; Davide Torielli; Federico Rollo; Damiano Gasperini; Arturo Laurenzi; Lorenzo Baccelliere; Luca Muratore; Marco Roveri; Nikos G. Tsagarakis (Humanoids, 2024)

Task-Driven Computational Framework for Simultaneously Optimizing Design and Mounted Pose of Modular Reconfigurable Manipulators. - Maolin Lei; Edoardo Romiti; Arturo Laurenzi; Nikos G. Tsagarakis (IROS, 2024)

Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model. - Jin Wang; Arturo Laurenzi; Nikos G. Tsagarakis (IROS, 2024)

The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints. - Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2025)

Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations. - Francesco Ruscelli; Luca Rossini; Enrico Mingo Hoffman; Lorenzo Baccelliere; Arturo Laurenzi; Luca Muratore; Davide Antonucci; Stefano Cordasco; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2025)

CONCERT: a Modular Reconfigurable Robot for Construction. - Luca Rossini; Edoardo Romiti; Arturo Laurenzi; Francesco Ruscelli; Marco Ruzzon; Luca Covizzi; Lorenzo Baccelliere; Stefano Carrozzo; Michael Terzer; Marco Magri; Carlo Morganti; Maolin Lei; et al. (CoRR, 2025)

Effective Data-Driven Joint Friction Modeling and Compensation With Physical Consistency. - Rui Dai; Luca Rossini; Arturo Laurenzi; Andrea Patrizi; Nikolaos G. Tsagarakis (IEEE Robotics Autom. Lett., 2025)

Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies. - Maolin Lei; Edoardo Romiti; Arturo Laurenzi; Cheng Zhou; Wanli Xing; Liang Lu; Nikos G. Tsagarakis (CoRR, 2025)