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)

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)

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

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)

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)

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)

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)

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

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)

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)

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)

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)

Feasible Region: an Actuation-Aware Extension of the Support Region. - Romeo Orsolino; Michele Focchi; Stéphane Caron; Gennaro Raiola; Victor Barasuol; 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)

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)

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)

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

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

MPC-Based Reference Governor Control for Self-Righting of Quadruped Robots: Preliminary Results. - Aureo Guilherme Dobrikopf; Lucas Schulze; Douglas Wildgrube Bertol; Victor Barasuol (LARS/SBR/WRE, 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)

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)

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)

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

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

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)

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)

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)

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)

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)

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)