Claudio Semini

According to our database1, Claudio Semini authored at least 72 papers between 2009 and 2020.

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Bibliography

2020
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality.
Proceedings of the Advances in Robotics Research: From Lab to Market, 2020

2019
Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs.
IEEE Robotics and Automation Letters, 2019

Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain.
IEEE Robotics and Automation Letters, 2019

On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics.
CoRR, 2019

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion.
CoRR, 2019

STANCE: Locomotion Adaptation over Soft Terrain.
CoRR, 2019

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization.
CoRR, 2019

Feasible Region: an Actuation-Aware Extension of the Support Region.
CoRR, 2019

A Factor Graph Approach to Multi-camera Extrinsic Calibration on Legged Robots.
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.
IEEE Robotics and Automation Letters, 2018

Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization.
IEEE Robotics and Automation Letters, 2018

Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control.
Front. Robotics and AI, 2018

Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain.
CoRR, 2018

Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks.
CoRR, 2018

Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality.
CoRR, 2018

Special Issue on 'New Hydraulic Components for Tough Robots'.
Advanced Robotics, 2018

2017
Towards Scalable Strain Gauge-Based Joint Torque Sensors.
Sensors, 2017

Active camera stabilization to enhance the vision of agile legged robots.
Robotica, 2017

Bringing Together Researchers in Robot Mechanisms and Design [TC Spotlight].
IEEE Robot. Automat. Mag., 2017

Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots.
IEEE Robotics and Automation Letters, 2017

A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes.
CoRR, 2017

The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP).
CoRR, 2017

High-slope terrain locomotion for torque-controlled quadruped robots.
Auton. Robots, 2017

Automatic differentiation of rigid body dynamics for optimal control and estimation.
Advanced Robotics, 2017

Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots.
Proceedings of the Robotics: Science and Systems XIII, 2017

Online payload identification for quadruped robots.
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.
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.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Kinematic design of a configurable terrain simulator platform for robotic legs.
Proceedings of the 2nd International Conference on Advanced Robotics and Mechatronics, 2017

Learning optimal gait parameters and impedance profiles for legged locomotion.
Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016
Validation of computer simulations of the HyQ robot.
CoRR, 2016

Fast derivatives of rigid body dynamics for control, optimization and estimation.
Proceedings of the 2016 IEEE International Conference on Simulation, 2016

Study on the morphological parameters of quadruped robot designs considering ditch traversability.
Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics, 2016

Towards a multi-legged mobile manipulator.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Hierarchical planning of dynamic movements without scheduled contact sequences.
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.
Proceedings of the IEEE 14th International Workshop on Advanced Motion Control, 2016

2015
Model-Based Hydraulic Impedance Control for Dynamic Robots.
IEEE Trans. Robotics, 2015

Towards versatile legged robots through active impedance control.
I. J. Robotics Res., 2015

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ.
Auton. Robots, 2015

On-line and on-board planning and perception for quadrupedal locomotion.
Proceedings of the 2015 IEEE International Conference on Technologies for Practical Robot Applications, 2015

Development of the lightweight hydraulic quadruped robot - MiniHyQ.
Proceedings of the 2015 IEEE International Conference on Technologies for Practical Robot Applications, 2015

Active compliance hybrid zero dynamics control of bounding on HyQ.
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.
Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2015

Slip Detection and Recovery for Quadruped Robots.
Proceedings of the Robotics Research, 2015

Reactive trotting with foot placement corrections through visual pattern classification.
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.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Bio-inspired knee joint mechanism for a hydraulic quadruped robot.
Proceedings of the 6th International Conference on Automation, Robotics and Applications, 2015

Additive manufacturing for agile legged robots with hydraulic actuation.
Proceedings of the International Conference on Advanced Robotics, 2015

2014
Quadruped robot trotting over irregular terrain assisted by stereo-vision.
Intelligent Service Robotics, 2014

Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops.
CoRR, 2014

Modelling Legged Robot Multi-Body Dynamics Using Hierarchical Virtual Prototype Design.
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.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013
Vision enhanced reactive locomotion control for trotting on rough terrain.
Proceedings of the 2013 IEEE Conference on Technologies for Practical Robot Applications, 2013

AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots.
Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2013

A comparison of search-based planners for a legged robot.
Proceedings of the 9th Workshop on Robot Motion and Control, 2013

Is Active Impedance the Key to a Breakthrough for Legged Robots?
Proceedings of the Robotics Research, 2013

Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control.
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).
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.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

A reactive controller framework for quadrupedal locomotion on challenging terrain.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Quadrupedal trotting with active compliance.
Proceedings of the IEEE International Conference on Mechatronics, 2013

2012
On the role of load motion compensation in high-performance force control.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Dynamic torque control of a hydraulic quadruped robot.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Torque-control based compliant actuation of a quadruped robot.
Proceedings of the 12th IEEE International Workshop on Advanced Motion Control, 2012

2010
A 3-way valve-controlled spring assisted rotary actuator.
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.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Power hydraulics - switched mode control of hydraulic actuation.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Water/air performance analysis of a fluidic muscle.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Control of a hydraulically-actuated quadruped robot leg.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009
Leg mechanisms for hydraulically actuated robots.
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.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009


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