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

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)

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

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)

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)

Coupled systems analyses for high-performance robust force control of wearable robots. - Thiago Boaventura Cunha; Jonas Buchli (BioRob, 2016)

Acceleration-based transparency control framework for wearable robots. - Thiago Boaventura Cunha; Jonas Buchli (IROS, 2016)

Online prediction of threading task failure using Convolutional Neural Networks. - Guilherme R. Moreira; Gustavo J. G. Lahr; Thiago Boaventura; Jose O. Savazzi; Glauco A. P. Caurin (IROS, 2018)

Joint kinematic configuration influence on the passivity of an impedance-controlled robotic leg. - Felipe Y. G. Higa; Gustavo J. G. Lahr; Glauco A. P. Caurin; Thiago Boaventura (ICRA, 2019)

Toward Personal Affordable Exoskeletons With Force Control Capabilities. - Andrea Calanca; Eldison Dimo; Emanuele Palazzi; Rafael Ferro; Rudy Vicario; Noè Murr; Matteo Meneghetti; Davide Costanzi; Luca Luzi; Rocco Vertechy; Thiago Boaventura (PETRA, 2021)

Benchmarking Force Control Algorithms. - Rudy Vicario; Andrea Calanca; Eldison Dimo; Noè Murr; Matteo Meneghetti; Rafael Ferro; Enrico Sartori; Thiago Boaventura (PETRA, 2021)

ReRobApp: A modular and open-source software framework for robotic rehabilitation and human-robot interaction. - Jose Y. Moreno; Felix M. Escalante Ortega; Thiago Boaventura; Marco H. Terra; Adriano A. G. Siqueira (BioRob, 2022)

IMU-based Transparency Control of Exoskeletons Driven by Series Elastic Actuator. - Leonardo F. dos Santos; Felix M. Escalante Ortega; Adriano A. G. Siqueira; Thiago Boaventura (CDC, 2022)

A hybrid model-based evolutionary optimization with passive boundaries for physical human-robot interaction. - Gustavo J. G. Lahr; Henrique Borges Garcia; Arash Ajoudani; Thiago Boaventura; Glauco A. P. Caurin (ICRA, 2022)

Editorial Variable Impedance Control and Learning in Complex Interaction Scenarios: Challenges and Opportunities. - Fares J. Abu-Dakka; Matteo Saveriano; Meghan E. Huber; Thiago Boaventura (IEEE Robotics Autom. Lett., 2022)

Impedance Control Analysis for Legged Locomotion in Oscillating Ground. - Vivian Suzano Medeiros; Felix M. Escalante Ortega; Marcelo Becker; Thiago Boaventura (CLAWAR (2), 2023)

Planar Motion Control of a Quadruped Robot. - Gabriel Duarte Gonçalves Pedro; Thiago Boaventura Cunha; Pedro Américo Almeida Magalhães Júnior; Gustavo Medeiros Freitas (CLAWAR (2), 2023)

Force Control Benchmarking in the Gap Metric. - Victor Shime; José L. Montandon Neto; Thiago Boaventura (LARS/SBR/WRE, 2023)

Markovian Transparency Control of an Exoskeleton Robot. - Felix M. Escalante Ortega; Leonardo F. dos Santos; Jose Y. Moreno; Adriano A. G. Siqueira; Marco H. Terra; Thiago Boaventura (IEEE Robotics Autom. Lett., 2023)

Comparative Analyses of ROS Local Planners for Quadrupedal Locomotion: A Study in Real and Simulated Environments. - Gabriel Bermudez; Gabriel Duarte Gonçalves Pedro; Vivian Suzano Medeiros; Thiago Boaventura (CLAWAR (2), 2024)

Heat It Up: Using Robo-gym to Warm-up Deep Reinforcement Learning Algorithms. - Gabriel Bermudez; Matheus A. do Carmo Alves; Gabriel Duarte Gonçalves Pedro; Thiago Boaventura (LARS, 2024)

Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves. - Gabriel Duarte Gonçalves Pedro; Gabriel Bermudez; Vivian Suzano Medeiros; Hélio Jacinto da Cruz Neto; Luiz Guilherme Dias de Barros; Gustavo Pessin; Marcelo Becker; Gustavo Medeiros Freitas; Thiago Boaventura (Sensors, 2024)

HuMAn - the Human Motion Anticipation Algorithm Based on Recurrent Neural Networks. - Victor Noppeney; Felix M. Escalante Ortega; Lucas Maggi; Thiago Boaventura (IEEE Robotics Autom. Lett., 2024)

The Impedance Space: A Look at Mechanical Impedance Ellipses in 3D. - Leonardo F. dos Santos; Cícero Zanette; Elisa G. Vergamini; Lucca Maitan; Thiago Boaventura (CoRR, 2025)

Improving Failure Prediction in Aircraft Fastener Assembly Using Synthetic Data in Imbalanced Datasets. - Gustavo J. G. Lahr; Ricardo V. Godoy; Thiago H. Segreto; Jose O. Savazzi; Arash Ajoudani; Thiago Boaventura; Glauco A. P. Caurin (CoRR, 2025)

Load-independent Metrics for Benchmarking Force Controllers. - Victor Shime; Elisa G. Vergamini; Cícero Zanette; Leonardo F. dos Santos; Lucca Maitan; Andrea Calanca; Thiago Boaventura (CoRR, 2025)

Construction of an Impedance Control Test Bench. - Elisa G. Vergamini; Leonardo F. dos Santos; Cícero Zanette; Yecid Moreno; Felix M. Escalante Ortega; Thiago Boaventura (CoRR, 2025)