Shape-based compliant control with variable coordination centralization on a snake robot. - Julian Whitman; Francesco Ruscelli; Matthew J. Travers; Howie Choset (CDC, 2016)

Proprioceptive-Inertial Autonomous Locomotion for Articulated Robots. - Francesco Ruscelli; Guillaume Sartoretti; Junyu Nan; Zhixin Feng; Matthew J. Travers; Howie Choset (ICRA, 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)

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)

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)

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)

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)

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)

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)

HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation. - Jin Wang; Rui Dai; Weijie Wang; Luca Rossini; Francesco Ruscelli; Nikos G. Tsagarakis (CoRL, 2024)

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)