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)

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)

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)

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)

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)

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

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)

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

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)

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)

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)

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)

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)

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)

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)

Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots. - Michele Focchi; Daniele Pucci; Andrea Del Prete (Frontiers Robotics AI, 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)

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)

WoLF: the Whole-body Locomotion Framework for Quadruped Robots. - Gennaro Raiola; Michele Focchi; Enrico Mingo Hoffman (CoRR, 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)

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

CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments. - Michele Focchi; Mohamed Bensaadallah; Marco Frego; Angelika Peer; Daniele Fontanelli; Andrea Del Prete; Luigi Palopoli 002 (ICRA, 2023)

Efficient Reinforcement Learning for Jumping Monopods. - Riccardo Bussola; Michele Focchi; Andrea Del Prete; Daniele Fontanelli; Luigi Palopoli 002 (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)

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)

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

Pseudo-kinematic trajectory control of tracked vehicles. - Michele Focchi; Daniele Fontanelli; Luigi Palopoli 002 (CoRR, 2024)

Efficient Reinforcement Learning for 3D Jumping Monopods. - Riccardo Bussola; Michele Focchi; Andrea Del Prete; Daniele Fontanelli; Luigi Palopoli 002 (Sensors, 2024)

ALPINE: A climbing robot for operations in mountain environments. - Michele Focchi; Andrea Del Prete; Daniele Fontanelli; Marco Frego; Angelika Peer; Luigi Palopoli 002 (Robotics Auton. Syst., 2025)

Smooth Human-Robot Shared Control for Autonomous Orchard Monitoring With UGVs. - Cheikh Melainine El Bou; Michele Focchi; Michael R. Chang; Marco Camurri; Karl D. von Ellenrieder (IEEE Trans Autom. Sci. Eng., 2025)

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