MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping. - Bram Vanderborght; Nikolaos G. Tsagarakis; Claudio Semini; Ronald Van Ham; Darwin G. Caldwell (ICRA, 2009)

Leg mechanisms for hydraulically actuated robots. - Yousheng Yang; Claudio Semini; Nikolaos G. Tsagarakis; Emanuele Guglielmino; Darwin G. Caldwell (IROS, 2009)

Control of a hydraulically-actuated quadruped robot leg. - Michele Focchi; Emanuele Guglielmino; Claudio Semini; Thiago Boaventura Cunha; Yousheng Yang; Darwin G. Caldwell (ICRA, 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 (IROS, 2010)

Power hydraulics - switched mode control of hydraulic actuation. - Emanuele Guglielmino; Claudio Semini; Helmut Kogler; Rudolf Scheidl; Darwin G. Caldwell (IROS, 2010)

Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot. - Claudio Semini; Nikolaos G. Tsagarakis; Emanuele Guglielmino; Darwin G. Caldwell (IROS, 2010)

A 3-way valve-controlled spring assisted rotary actuator. - Yousheng Yang; Emanuele Guglielmino; Claudio Semini; Jian S. Dai 001; Darwin G. Caldwell (IROS, 2010)

Torque-control based compliant actuation of a quadruped robot. - Michele Focchi; Thiago Boaventura; Claudio Semini; Marco Frigerio; Jonas Buchli; Darwin G. Caldwell (AMC, 2012)

Dynamic torque control of a hydraulic quadruped robot. - Thiago Boaventura Cunha; Claudio Semini; Jonas Buchli; Marco Frigerio; Michele Focchi; Darwin G. Caldwell (ICRA, 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 (IROS, 2012)

Quadrupedal trotting with active compliance. - Ioannis Havoutis; Claudio Semini; Jonas Buchli; Darwin G. Caldwell (ICM, 2013)

A reactive controller framework for quadrupedal locomotion on challenging terrain. - Victor Barasuol; Jonas Buchli; Claudio Semini; Marco Frigerio; Edson R. de Pieri; Darwin G. Caldwell (ICRA, 2013)

Stability and performance of the compliance controller of the quadruped robot HyQ. - Thiago Boaventura Cunha; Gustavo A. Medrano-Cerda; Claudio Semini; Jonas Buchli; Darwin G. Caldwell (IROS, 2013)

Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ). - Ioannis Havoutis; Jesús Ortiz 001; Stéphane Bazeille; Victor Barasuol; Claudio Semini; Darwin G. Caldwell (IROS, 2013)

Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control. - Barkan Ugurlu; Ioannis Havoutis; Claudio Semini; Darwin G. Caldwell (IROS, 2013)

Is Active Impedance the Key to a Breakthrough for Legged Robots? - Claudio Semini; Victor Barasuol; Thiago Boaventura Cunha; Marco Frigerio; Jonas Buchli (ISRR, 2013)

A comparison of search-based planners for a legged robot. - Muhammad Asif Arain; Ioannis Havoutis; Claudio Semini; Jonas Buchli; Darwin G. Caldwell (RoMoCo, 2013)

AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots. - Marco Hutter 001; Michael Blösch; Jonas Buchli; Claudio Semini; Stéphane Bazeille; Ludovic Righetti; Jeannette Bohg (SSRR, 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 (TePRA, 2013)

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 001; Michele Focchi; Rüdiger Dillmann; Darwin G. Caldwell; Claudio Semini (ICRA, 2014)

Modelling Legged Robot Multi-Body Dynamics Using Hierarchical Virtual Prototype Design. - Mariapaola D'Imperio; Ferdinando Cannella; Fei Chen 007; Daniele Catelani; Claudio Semini; Darwin G. Caldwell (Living Machines, 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)

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)

Additive manufacturing for agile legged robots with hydraulic actuation. - Claudio Semini; Jake Goldsmith; Diego Manfredi; Flaviana Calignano; Elisa Paola Ambrosio; Jukka Pakkanen; Darwin G. Caldwell (ICAR, 2015)

Bio-inspired knee joint mechanism for a hydraulic quadruped robot. - Hamza Khan 004; Roy Featherstone; Darwin G. Caldwell; Claudio Semini (ICARA, 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 (ICRA, 2015)

Reactive trotting with foot placement corrections through visual pattern classification. - Victor Barasuol; Marco Camurri; Stéphane Bazeille; Darwin G. Caldwell; Claudio Semini (IROS, 2015)

Slip Detection and Recovery for Quadruped Robots. - Michele Focchi; Victor Barasuol; Marco Frigerio; Darwin G. Caldwell; Claudio Semini (ISRR (2), 2015)

Real-time depth and inertial fusion for local SLAM on dynamic legged robots. - Marco Camurri; Stéphane Bazeille; Darwin G. Caldwell; Claudio Semini (MFI, 2015)

Active compliance hybrid zero dynamics control of bounding on HyQ. - Xin Liu; Claudio Semini; Ioannis Poulakakis (ROBIO, 2015)

Development of the lightweight hydraulic quadruped robot - MiniHyQ. - Hamza Khan 004; Satoshi Kitano; Marco Frigerio; Marco Camurri; Victor Barasuol; Roy Featherstone; Darwin G. Caldwell; Claudio Semini (TePRA, 2015)

On-line and on-board planning and perception for quadrupedal locomotion. - Carlos Mastalli; Ioannis Havoutis; Alexander W. Winkler; Darwin G. Caldwell; Claudio Semini (TePRA, 2015)

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ. - Barkan Ugurlu; Ioannis Havoutis; Claudio Semini; Kana Kayamori; Darwin G. Caldwell; Tatsuo Narikiyo (Auton. Robots, 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)

Model-Based Hydraulic Impedance Control for Dynamic Robots. - Thiago Boaventura Cunha; Jonas Buchli; Claudio Semini; Darwin G. Caldwell (IEEE Trans. Robotics, 2015)

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 (AMC, 2016)

Hierarchical planning of dynamic movements without scheduled contact sequences. - Carlos Mastalli; Ioannis Havoutis; Michele Focchi; Darwin G. Caldwell; Claudio Semini (ICRA, 2016)

Towards a multi-legged mobile manipulator. - Bilal Ur Rehman; Michele Focchi; Jinoh Lee; Houman Dallali; Darwin G. Caldwell; Claudio Semini (ICRA, 2016)

Study on the morphological parameters of quadruped robot designs considering ditch traversability. - Yifu Gao; Victor Barasuol; Darwin G. Caldwell; Claudio Semini (ROBIO, 2016)

Fast derivatives of rigid body dynamics for control, optimization and estimation. - Michael Neunert; Markus Giftthaler; Marco Frigerio; Claudio Semini; Jonas Buchli (SIMPAR, 2016)

Validation of computer simulations of the HyQ robot. - Marco Frigerio; Victor Barasuol; Michele Focchi; Claudio Semini (CoRR, 2016)

Learning optimal gait parameters and impedance profiles for legged locomotion. - Elco Heijmink; Andreea Radulescu; Brahayam Ponton; Victor Barasuol; Darwin G. Caldwell; Claudio Semini (Humanoids, 2017)

Kinematic design of a configurable terrain simulator platform for robotic legs. - Yifu Gao; Victor Barasuol; Darwin G. Caldwell; Claudio Semini (ICARM, 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 (ICRA, 2017)

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems. - Andreea Radulescu; Ioannis Havoutis; Darwin G. Caldwell; Claudio Semini (ICRA, 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 (IROS, 2017)

Online payload identification for quadruped robots. - Guido Tournois; Michele Focchi; Andrea Del Prete; Romeo Orsolino; Darwin G. Caldwell; Claudio Semini (IROS, 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 (Robotics: Science and Systems, 2017)

Automatic differentiation of rigid body dynamics for optimal control and estimation. - Markus Giftthaler; Michael Neunert; Markus Stäuble; Marco Frigerio; Claudio Semini; Jonas Buchli (Adv. Robotics, 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)

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)

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)

Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots. - Marco Camurri; Maurice F. Fallon; Stéphane Bazeille; Andreea Radulescu; Victor Barasuol; Darwin G. Caldwell; Claudio Semini (IEEE Robotics Autom. Lett., 2017)

Bringing Together Researchers in Robot Mechanisms and Design [TC Spotlight]. - Aaron M. Dollar; Claudio Semini; Kyujin Cho; Matei T. Ciocarlie (IEEE Robotics Autom. Mag., 2017)

Active camera stabilization to enhance the vision of agile legged robots. - Stéphane Bazeille; Jesús Ortiz 001; Francesco Rovida; Marco Camurri; Anis Meguenani; Darwin G. Caldwell; Claudio Semini (Robotica, 2017)

Towards Scalable Strain Gauge-Based Joint Torque Sensors. - Hamza Khan 004; Mariapaola D'Imperio; Ferdinando Cannella; Darwin G. Caldwell; Alfred Cuschieri; Claudio Semini (Sensors, 2017)

Special Issue on 'New Hydraulic Components for Tough Robots'. - Koichi Suzumori; Sang-Ho Hyon; Claudio Semini; Jouni Mattila; Takefumi Kanda (Adv. Robotics, 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)

Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks. - Octavio Antonio Villarreal-Magaña; Victor Barasuol; Marco Camurri; Michele Focchi; Luca Franceschi 001; Massimiliano Pontil; Darwin G. Caldwell; Claudio Semini (CoRR, 2018)

Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain. - Shamel Fahmi; Carlos Mastalli; Michele Focchi; Claudio Semini (CoRR, 2018)

Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control. - Victor Barasuol; Octavio Antonio Villarreal-Magaña; Dhinesh Sangiah; Marco Frigerio; Mike Baker; Robert Morgan; Gustavo A. Medrano-Cerda; Darwin G. Caldwell; Claudio Semini (Frontiers Robotics AI, 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)

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)

A Factor Graph Approach to Multi-camera Extrinsic Calibration on Legged Robots. - Andrzej Reinke; Marco Camurri; Claudio Semini (IRC, 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)

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)

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. - Octavio Antonio Villarreal-Magaña; Victor Barasuol; Patrick M. Wensing; Claudio Semini (CoRR, 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)

Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs. - Octavio Antonio Villarreal-Magaña; Victor Barasuol; Marco Camurri; Luca Franceschi 001; Michele Focchi; Massimiliano Pontil; Darwin G. Caldwell; Claudio Semini (IEEE Robotics Autom. Lett., 2019)

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)

Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot. - Gabriel Urbain; Victor Barasuol; Claudio Semini; Joni Dambre; Francis Wyffels (ICRA, 2020)

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. - Octavio Villarreal; Victor Barasuol; Patrick M. Wensing; Darwin G. Caldwell; Claudio Semini (ICRA, 2020)

Proprioceptive Sensor Fusion for Quadruped Robot State Estimation. - Geoff Fink; Claudio Semini (IROS, 2020)

Line Walking and Balancing for Legged Robots with Point Feet. - Carlos Gonzalez; Victor Barasuol; Marco Frigerio; Roy Featherstone; Darwin G. Caldwell; Claudio Semini (IROS, 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)

STANCE: Locomotion Adaptation Over Soft Terrain. - Shamel Fahmi; Michele Focchi; Andreea Radulescu; Geoff Fink; Victor Barasuol; 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)

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)

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 (ECHORD++, 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)

Effect of compliance on morphological control of dynamic locomotion with HyQ. - Gabriel Urbain; Victor Barasuol; Claudio Semini; Joni Dambre; Francis Wyffels (Auton. Robots, 2021)

On State Estimation for Legged Locomotion over Soft Terrain. - Shamel Fahmi; Geoff Fink; Claudio Semini (CoRR, 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)

Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation. - Tao Teng; Miguel Fernandes; Matteo Gatti; Stefano Poni; Claudio Semini; Darwin G. Caldwell; Fei Chen 007 (CoRR, 2021)

Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation. - Miguel Fernandes; Antonello Scaldaferri; Giuseppe Fiameni; Tao Teng; Matteo Gatti; Stefano Poni; Claudio Semini; Darwin G. Caldwell; Fei Chen 007 (CoRR, 2021)

Towards Precise Pruning Points Detection using Semantic-Instance-Aware Plant Models for Grapevine Winter Pruning Automation. - Miguel Fernandes; Antonello Scaldaferri; Paolo Guadagna; Giuseppe Fiameni; Tao Teng; Matteo Gatti; Stefano Poni; Claudio Semini; Darwin G. Caldwell; Fei Chen 007 (CoRR, 2021)

Editorial: Robotics in Extreme Environments. - Chie Takahashi; Manuel Giuliani; Barry Lennox; William R. Hamel; Rustam Stolkin; Claudio Semini (Frontiers Robotics AI, 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)

A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators. - Mattia Risiglione; Victor Barasuol; Darwin G. Caldwell; Claudio Semini (IROS, 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)

On Slip Detection for Quadruped Robots. - Ylenia Nisticò; Shamel Fahmi; Lucia Pallottino; Claudio Semini; Geoff Fink (Sensors, 2022)

Stair-Climbing Charts: On the Optimal Body Height for Quadruped Robots to Walk on Stairs. - Victor Barasuol; Sinan Emre; Claudio Semini (CLAWAR (1), 2023)

Locosim: An Open-Source Cross-Platform Robotics Framework. - Michele Focchi; Francesco Roscia; Claudio Semini (CLAWAR (2), 2023)

SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. - Shafeef Omar; Lorenzo Amatucci; Victor Barasuol; Giulio Turrisi; Claudio Semini (Humanoids, 2023)

Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots. - Lee Milburn; Juan D. Gamba; Miguel Fernandes; Claudio Semini (ICARSC, 2023)

Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators. - Riccardo Parosi; Mattia Risiglione; Darwin G. Caldwell; Claudio Semini; Victor Barasuol (IROS, 2023)

Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller. - Ilyass Taouil; Giulio Turrisi; Daniel Schleich; Victor Barasuol; Claudio Semini; Sven Behnke (IROS, 2023)

Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots. - Lee Milburn; Juan D. Gamba; Claudio Semini (CoRR, 2023)

Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion. - Shafeef Omar; Lorenzo Amatucci; Giulio Turrisi; Victor Barasuol; Claudio Semini (CoRR, 2023)

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

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. - Francesco Roscia; Andrea Cumerlotti; Andrea Del Prete; Claudio Semini; Michele Focchi (Sensors, 2023)

ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots. - Shamel Fahmi; Victor Barasuol; Domingo Esteban; Octavio Villarreal; Claudio Semini (IEEE Trans. Robotics, 2023)

Editorial: Robotics in extreme environments, volume II. - Chie Takahashi; Barry Lennox; Claudio Semini; Manuel Giuliani; Young Soo Park; William R. Hamel (Frontiers Robotics AI, 2023)

An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion. - Abdelrahman Abdalla; Michele Focchi; Romeo Orsolino; Claudio Semini (IEEE Trans. Robotics, 2023)

Reactive Landing Controller for Quadruped Robots. - Francesco Roscia; Michele Focchi; Andrea Del Prete; Darwin G. Caldwell; Claudio Semini (IEEE Robotics Autom. Lett., 2023)

A Hybrid Force/Impedance Motion Controller for Robust Quadruped Locomotion on Sandy, Slippery, and Collapsing Terrains. - Alex T. Leonardi; Vivian S. Medeiros; Claudio Semini; Victor Barasuol (CLAWAR (2), 2024)

Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions. - Hilton Marques Souza Santana; João Carlos Virgolino Soares; Ylenia Nisticò; Marco Antonio Meggiolaro; Claudio Semini (Humanoids, 2024)

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)

Leveraging Symmetry in RL-based Legged Locomotion Control. - Zhi Su; Xiaoyu Huang; Daniel Felipe Ordoñez Apraez; Yunfei Li; Zhongyu Li 003; Qiayuan Liao; Giulio Turrisi; Massimiliano Pontil; Claudio Semini; Yi Wu 013; Koushil Sreenath (IROS, 2024)

On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion. - Giulio Turrisi; Valerio Modugno; Lorenzo Amatucci; Dimitrios Kanoulas; Claudio Semini (IROS, 2024)

PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control. - Giulio Turrisi; Lucas Schulze; Vivian S. Medeiros; Claudio Semini; Victor Barasuol (IROS, 2024)

Dynamics harmonic analysis of robotic systems: Application in data-driven Koopman modelling. - Daniel Felipe Ordoñez Apraez; Vladimir Kostic; Giulio Turrisi; Pietro Novelli; Carlos Mastalli; Claudio Semini; Massimiliano Pontil (L4DC, 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)

Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation. - Gabriel Fischer Abati; João Carlos Virgolino Soares; Vivian Suzano Medeiros; Marco Antonio Meggiolaro; Claudio Semini (UR, 2024)

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

Morphological Symmetries in Robotics. - Daniel Felipe Ordoñez Apraez; Giulio Turrisi; Vladimir Kostic; Mario Martín; Antonio Agudo; Francesc Moreno-Noguer; Massimiliano Pontil; Claudio Semini; Carlos Mastalli (CoRR, 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)

Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots. - Mohamed Elobaid; Giulio Turrisi; Lorenzo Rapetti; Giulio Romualdi; Stefano Dafarra; Tomohiro Kawakami; Tomohiro Chaki; Takahide Yoshiike; Claudio Semini; Daniele Pucci (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)

Non-Gaited Legged Locomotion With Monte-Carlo Tree Search and Supervised Learning. - Ilyass Taouil; Lorenzo Amatucci; Majid Khadiv; Angela Dai; Victor Barasuol; Giulio Turrisi; Claudio Semini (IEEE Robotics Autom. Lett., 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)

Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots. - Mohamed Elobaid; Giulio Turrisi; Lorenzo Rapetti; Giulio Romualdi; Stefano Dafarra; Tomohiro Kawakami; Tomohiro Chaki; Takahide Yoshiike; Claudio Semini; Daniele Pucci (IEEE Robotics Autom. Lett., 2025)

Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation. - Zechu Li; Yufeng Jin; Daniel Felipe Ordoñez Apraez; Claudio Semini; Puze Liu; Georgia Chalvatzaki (CoRR, 2025)

MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots. - Ylenia Nisticò; João Carlos Virgolino Soares; Lorenzo Amatucci; Geoff Fink; Claudio Semini (IEEE Robotics Autom. Lett., 2025)

Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots. - Lorenzo Amatucci; João Sousa Pinto; Giulio Turrisi; Dominique Orban; Victor Barasuol; Claudio Semini (CoRR, 2025)

Multi-Sensor Fusion for Quadruped Robot State Estimation Using Invariant Filtering and Smoothing. - Ylenia Nisticò; Hajun Kim; João Carlos Virgolino Soares; Geoff Fink; Hae-Won Park 002; Claudio Semini (IEEE Robotics Autom. Lett., 2025)

Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots. - Riccardo Bussola; Michele Focchi; Giulio Turrisi; Claudio Semini; Luigi Palopoli 002 (CoRR, 2025)

RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation. - Mattia Risiglione; Abdelrahman Abdalla; Victor Barasuol; Kim Tien Ly; Ioannis Havoutis; Claudio Semini (CoRR, 2025)