Claudio Semini

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Featured Co-authors

Sven Behnke
150 publications
Massimiliano Pontil
69 publications
Ludovic Righetti
46 publications
Ioannis Havoutis
36 publications
Darwin G. Caldwell
30 publications
Michele Focchi
23 publications
Carlos Mastalli
21 publications
Joni Dambre
21 publications
Marco Camurri
18 publications
Alberto Bemporad
18 publications
Victor Barasuol
15 publications

research

∙ 07/27/2023

Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion

This extended abstract provides a short introduction on our recently dev...

0 Shafeef Omar, et al. ∙

research

∙ 07/24/2023

SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors

We present a footstep planning policy for quadrupedal locomotion that is...

0 Shafeef Omar, et al. ∙

research

∙ 07/23/2023

Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller

Legged robots are increasingly entering new domains and applications, in...

0 Ilyass Taouil, et al. ∙

research

∙ 07/10/2023

Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators

We propose a control pipeline for SAG (Searching, Approaching, and Grasp...

0 Riccardo Parosi, et al. ∙

research

∙ 05/12/2023

Reactive Landing Controller for Quadruped Robots

Quadruped robots are machines intended for challenging and harsh environ...

0 Francesco Roscia, et al. ∙

research

∙ 05/03/2023

Locosim: an Open-Source Cross-Platform Robotics Framework

The architecture of a robotics software framework tremendously influence...

0 Michele Focchi, et al. ∙

research

∙ 01/02/2023

Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots

There is a dramatic shortage of skilled labor for modern vineyards. The ...

0 Lee Milburn, et al. ∙

research

∙ 12/02/2022

ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots

This work is on vision-based planning strategies for legged robots that ...

0 Shamel Fahmi, et al. ∙

research

∙ 09/30/2022

ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion

Online trajectory optimization techniques generally depend on heuristic-...

0 Angelo Bratta, et al. ∙

research

∙ 08/25/2022

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots

For legged robots, aerial motions are the only option to overpass obstac...

0 Francesco Roscia, et al. ∙

research

∙ 08/01/2022

A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators

Quadrupedal manipulators require to be compliant when dealing with exter...

0 Mattia Risiglione, et al. ∙

research

∙ 07/20/2022

Governor: a Reference Generator for Nonlinear Model Predictive Control in Legged Robots

Model Predictive Control (MPC) approaches are widely used in robotics, s...

0 Angelo Bratta, et al. ∙

research

∙ 03/08/2022

Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots

To traverse complex scenarios reliably a legged robot needs to move its ...

0 Luca Clemente, et al. ∙

research

∙ 05/12/2021

Mobility-enhanced MPC for Legged Locomotion on Rough Terrain

Re-planning in legged locomotion is crucial to track a given set-point w...

0 Niraj Rathod, et al. ∙

research

∙ 01/06/2021

On State Estimation for Legged Locomotion over Soft Terrain

Locomotion over soft terrain remains a challenging problem for legged ro...

0 Shamel Fahmi, et al. ∙

research

∙ 11/16/2020

An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion

Developing feasible body trajectories for legged systems on arbitrary te...

0 Abdelrahman Abdalla1, et al. ∙

research

∙ 07/02/2020

Line Walking and Balancing for Legged Robots with Point Feet

The ability of legged systems to traverse highly-constrained environment...

0 Carlos Gonzalez, et al. ∙

research

∙ 03/20/2020

Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot

Advances in legged robotics are strongly rooted in animal observations. ...

0 Gabriel Urbain, et al. ∙

research

∙ 03/11/2020

Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control

Planning whole-body motions while taking into account the terrain condit...

0 Carlos Mastalli, et al. ∙

research

∙ 10/15/2019

On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics

We propose two feasibility constraints to be included in a Single Rigid ...

0 Angelo Bratta, et al. ∙

research

∙ 09/30/2019

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion

We present a novel control strategy for dynamic legged locomotion in com...

0 Octavio Villarreal, et al. ∙

research

∙ 04/28/2019

STANCE: Locomotion Adaptation over Soft Terrain

Whole-body Control (WBC) has emerged as an important framework in locomo...

0 Shamel Fahmi, et al. ∙

research

∙ 04/09/2019

Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences

Most animal and human locomotion behaviors for solving complex tasks inv...

0 Carlos Mastalli, et al. ∙

research

∙ 04/09/2019

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization

Traditional motion planning approaches for multi-legged locomotion divid...

0 Bernardo Aceituno-Cabezas, et al. ∙

research

∙ 04/07/2019

Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain

We present a framework for dynamic quadrupedal locomotion over challengi...

0 Alexander W. Winkler, et al. ∙

research

∙ 04/07/2019

On-line and on-board planning and perception for quadrupedal locomotion

We present a legged motion planning approach for quadrupedal locomotion ...

0 Carlos Mastalli, et al. ∙

research

∙ 03/19/2019

Feasible Region: an Actuation-Aware Extension of the Support Region

In legged locomotion the support region is defined as the 2D horizontal ...

0 Romeo Orsolino, et al. ∙

research

∙ 11/03/2018

A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots

Legged robots are becoming popular not only in research, but also in ind...

0 Andrzej Reinke, et al. ∙

research

∙ 11/02/2018

Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain

We present a passivity-based Whole-Body Control approach for quadruped r...

0 Shamel Fahmi, et al. ∙

research

∙ 09/25/2018

Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks

Legged robots can outperform wheeled machines for most navigation tasks ...

0 Octavio Villarreal, et al. ∙

research

∙ 05/25/2018

Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality

The quality of the visual feedback can vary significantly on a legged ro...

0 Michele Focchi, et al. ∙

research

∙ 12/19/2017

A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes

Motion planning in multi-contact scenarios has recently gathered interes...

0 Romeo Orsolino, et al. ∙

research

∙ 12/07/2017

The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)

The motivation of our current research is to devise motion planners for ...

0 Romeo Orsolino, et al. ∙

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