-
Notifications
You must be signed in to change notification settings - Fork 0
/
dlsbib.txt
1656 lines (1474 loc) · 67.1 KB
/
dlsbib.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
@INPROCEEDINGS{su24iros,
author={Su, Zhi and Huang, Xiaoyu and Ordoñez-Apraez, Daniel and Li, Zhongyu and Liao, Qiayuan and Turrisi, Giulio and Pontil, Massimiliano and Semini, Claudio and Wu, Yi and Sreenath, Koushil},
title={Leveraging Symmetry in RL-based Legged Locomotion Control},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2024},
note={accepted}
}
@INPROCEEDINGS{amatucci24iros,
author={Amatucci, Lorenzo and Turrisi, Giulio and Bratta, Angelo and Barasuol, Victor and Semini, Claudio},
title={Accelerating Model Predictive Control for Legged Robots through Distributed Optimization},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2024},
note={accepted}
}
@INPROCEEDINGS{barasuol24iros,
author={Turrisi, Giulio, and Schulze, Lucas and Medeiros, Vivian S. and Semini, Claudio and Barasuol, Victor},
title={PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2024},
note={accepted}
}
@INPROCEEDINGS{turrisi24iros,
author={Turrisi, Giulio, and Modugno, Valerio and Amatucci, Lorenzo and Kanoulas, Dimitrios and Semini, Claudio},
title={On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion},
booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
note={accepted}
}
@article{amatucci24jfr,
author={Amatucci, Lorenzo and Turrisi, Giulio and Bratta, Angelo and Barasuol, Victor and Semini, Claudio},
title={VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal},
journal={Journal of Field Robotics},
doi={https://doi.org/10.1002/rob.22350},
year={2024}
}
@INPROCEEDINGS{ordonez24l4dc,
author={Ordoñez-Apraez, Daniel and Kostic, Vladimir and Turrisi, Giulio and Novelli, Pietro and Mastalli, Carlos and Semini, Claudio and Pontil, Massimiliano},<br />
title={Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling},
booktitle={Proceedings of the 6th Annual Learning for Dynamics & Control Conference (PMLR)},
year={2024}
}
@INPROCEEDINGS{rad24mesa,
author={Rad, Amir H. and Villa, Matteo and Bratta, Angelo and Zuppi, Matteo and Semini, Claudio},
booktitle={IEEE/ASME MESA 2024 – 20th Int. Conference on Mechatronic, Embedded Systems and Applications},
title={Design of a Container Mechanism for Trash Collection on Quadruped Robots},
year={2024}
}
@INPROCEEDINGS{abati24ur,
author={Abati, Gabriel Fischer and Virgolino Soares, Joao Carlos and Suzano Medeiros, Vivian and Meggiolaro, Marco Antonio and Semini, Claudio},
booktitle={21st International Conference on Ubiquitous Robots (UR)},
title={Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation},
year={2024},
pages={01-08},
doi={10.1109/UR61395.2024.10597506}
}
@INPROCEEDINGS{bratta24ur,
author={Bratta, Angelo and Meduri, Avadesh and Focchi, Michele and Righetti, Ludovic and Semini, Claudio},
booktitle={21st International Conference on Ubiquitous Robots (UR)},
title={ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion},
year={2024},
pages={747-754},
doi={10.1109/UR61395.2024.10597477}
}
@INPROCEEDINGS{barasuol24icra,
author={Barasuol, Victor and Emre, Sinan and Suzano Medeiros, Vivian and Bratta, Angelo and Semini, Claudio},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
title={Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots},
year={2024}
}
@INPROCEEDINGS{gamba23irim,
AUTHOR = {Gamba, Juan D. and Arpenti, Pierluigi and Ruggiero, Fabio and Semini, Claudio},
TITLE = {An Effective Robotic End-Effector Engagement Approach for Automated Grapevine Pruning on a Quadrupedal Manipulator},
YEAR = {2023},
BOOKTITLE = {I-RIM Conference}
}
@INPROCEEDINGS{omar23humanoids,
author = {Omar, Shafeef and Amatucci, Lorenzo and Turrisi, Giulio and Barasuol, Victor and Semini, Claudio},
title = {SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors},
booktitle={IEEE-RAS International Conference on Humanoid Robots )},
year = {2023},
doi = {10.1109/Humanoids57100.2023.1037521}
}
@INPROCEEDINGS{parosi23iros,
title={Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators},
author={Riccardo Parosi and Mattia Risiglione and Darwin G. Caldwell and Claudio Semini and Victor Barasuol},
year={2023},
booktitle={{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
doi={10.1109/IROS55552.2023.10341714}
}
@INPROCEEDINGS{taouil23iros,
author = {Taouil, Ilyass and Turrisi, Giulio and Schleich, Daniel and Barasuol, Victor and Semini, Claudio and Behnke, Sven},
title = {Quadrupedal Footstep Planning using LearnedMotion Models of a Black-Box Controller},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems ({IROS})},
year = {2023},
doi={10.1109/IROS55552.2023.10342440}
}
@INPROCEEDINGS{barasuol23astra,
author={Barasuol, Victor and Villa, Matteo and Marchitto, Marco and Cerilli, Gianluca and Semini, Claudio},
title={Controlled Sliding Locomotion for Legged Rovers on Steep Terrain During Space Exploration},
booktitle={17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)},
year={2023}}
@Article{roscia23ral,
AUTHOR = {Roscia, Francesco and Focchi, Michele and Del Prete, Andrea and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Reactive Landing Controller for Quadruped Robots},
YEAR = {2023},
JOURNAL = {IEEE Robotics and Automation Letters (RA-L)},
VOLUME={8},
NUMBER={11},
PAGES={7210-7217},
DOI={10.1109/LRA.2023.3313919}
}
@article{guadagna23precision,
author = {Guadagna, P. and Fernandes, M. and Chen, F. and Santamaria, A. and Teng, Tao and Frioni, Tommaso and Caldwell, D. and Poni, S. and Semini, Claudio and Gatti, Matteo},
year = {2023},
month = {03},
pages = {1-23},
title = {Using deep learning for pruning region detection and plant organ segmentation in dormant spur-pruned grapevines},
volume = {24},
journal = {Precision Agriculture},
doi = {10.1007/s11119-023-10006-y}
}
@INPROCEEDINGS{focchi23clawar,
AUTHOR = {Focchi, Michele and Roscia, Francesco and Semini, Claudio},
BOOKTITLE = {Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems},
TITLE = {Locosim: an Open-Source Cross-PlatformRobotics Framework},
YEAR = {2024},
DOI = {10.1007/978-3-031-47272-5_33}
}
@INPROCEEDINGS{barasuol23clawar,
AUTHOR = {Barasuol, Victor and Emre, Sinan and Semini, Claudio},
BOOKTITLE = {Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems},
TITLE = {Stair-Climbing Charts: on the optimal body height for quadruped robots to walk on stairs},
YEAR = {2024},
DOI = {10.1007/978-3-031-47269-5_24}
}
@INPROCEEDINGS{milburn23icarsc,
author={Milburn, Lee and Gamba, Juan D. and Fernandes, Miguel and Semini, Claudio},
booktitle={IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)},
title={Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots},
year={2023},
pages={239-244},
doi={10.1109/ICARSC58346.2023.10129563}
}
@Article{gamba23ral,
Title = {A Springy Leg and a Double Backflip},
Author = {Gamba, Juan D. and Featherstone, Roy},
Journal = {IEEE Robotics and Automation Letters (RA-L)},
Year = {2023},
volume={8},
number={8},
pages={4657-4664},
doi={10.1109/LRA.2023.3287769}
}
@article{ordonez23rss,
author = {Ordonez-Apraez, Daniel and Martin, Mario and Agudo, Antonio and Moreno-Noguer, Francesc},
title = {On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis},
year = {2023},
publisher = {Robotics: Science and Systems Conference (RSS)}
}
@Article{fahmi23tro,
AUTHOR = {Fahmi, Shamel and Barasuol, Victor and Esteban, Domingo and Villarreal, Octavio and Semini, Claudio},
TITLE = {ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots},
JOURNAL = {IEEE Transactions on Robotics},
VOLUME = {39},
YEAR = {2023},
NUMBER = {2},
PAGES={885-904},
DOI = {10.1109/TRO.2022.3222958},
URL = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9966331}
}
@article{abdalla23tro,
author = {Abdalla, Abdelrahman and Focchi, Michele and Orsolino, Romeo and Semini, Claudio},
title = {An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion},
year = {2023},
journal = {IEEE Transactions on Robotics}
doi={10.1109/TRO.2023.3280431}
}
@PHDTHESIS{bratta23phd,
AUTHOR = {Bratta, Angelo},
TITLE = {Online Optimization-based Gait Adaptation of Quadruped Robot Locomotion},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2023},
OWNER = {phd}
}
@article{roscia23sensors,
AUTHOR = {Roscia, Francesco and Cumerlotti, Andrea and Del Prete, Andrea and Semini, Claudio and Focchi, Michele},
TITLE = {Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots},
JOURNAL = {Sensors},
VOLUME = {23},
YEAR = {2023},
NUMBER = {3},
ARTICLE-NUMBER = {1234},
URL = {https://www.mdpi.com/1424-8220/23/3/1234},
ISSN = {1424-8220},
DOI = {10.3390/s23031234}
}
@article{bratta23mdpi,
author= {Bratta, Angelo and Focchi, Michele and Rathod, Niraj and Semini, Claudio},
title = {Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots},
journal = {Robotics},
volume = {12},
number = {6},
year = {2023},
doi = {10.3390/robotics12010006}
}
@INPROCEEDINGS{omar22irim,
AUTHOR = {Omar, Shafeef and Amtucci, Lorenzo and Turrisi, Giulio and Barasuol, Victor and Semini, Claudio},
TITLE = {Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion},
YEAR = {2022},
BOOKTITLE = {I-RIM Conference},
PAGES={143-146},
DOI={110.5281/zenodo.7531324}
}
@INPROCEEDINGS{milburn22irim,
AUTHOR = {Milburn, Lee and Gamba, Juan and Semini, Claudio},
TITLE = {Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots},
YEAR = {2022},
BOOKTITLE = {I-RIM Conference},
PAGES={148-151},
DOI={10.5281/zenodo.7531328}
}
@INPROCEEDINGS{risiglione22iros,
author = {Risiglione, Mattia and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
title = {A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators},
publisher = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
year = {2022},
pages={9620-9627},
doi={10.1109/IROS47612.2022.9981895}
}
@INPROCEEDINGS{dettmann22astra,
author={Dettmann, Alexander and Planthaber, Steffen and Bargsten, Vinzenz and Dominguez, Raul and Cerilli, Gianluca and Marchitto, Marco and Fink, Geoff
and Focchi, Michele and Barasuol, Victor and Semini, Claudio and Marc, Robert},
title={Towards a Generic Navigation and Locomotion Control System for Legged Space Exploration},
booktitle={16th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)},
year={2022}}
@INPROCEEDINGS{amatucci2022icra,
author={Amatucci, Lorenzo and Kim, Joon-Ha and Hwangbo, Jemin and Park, Hae-Won },
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
title={Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control},
year={2022},
pages = {4701-4707},
doi= {10.1109/ICRA46639.2022.9812421}
}
@Article{nistico22sensors,
AUTHOR = {Nisticò, Ylenia and Fahmi, Shamel and Pallottino, Lucia and Semini, Claudio and Fink, Geoff},
TITLE = {On Slip Detection for Quadruped Robots},
JOURNAL = {Sensors},
VOLUME = {22},
YEAR = {2022},
NUMBER = {8},
ARTICLE-NUMBER = {2967},
URL = {https://www.mdpi.com/1424-8220/22/8/2967},
PubMedID = {35458952},
ISSN = {1424-8220},
ABSTRACT = {Legged robots are meant to autonomously navigate unstructured environments for applications like search and rescue, inspection, or maintenance. In autonomous navigation, a close relationship between locomotion and perception is crucial; the robot has to perceive the environment and detect any change in order to autonomously make decisions based on what it perceived. One main challenge in autonomous navigation for legged robots is locomotion over unstructured terrains. In particular, when the ground is slippery, common control techniques and state estimation algorithms may not be effective, because the ground is commonly assumed to be non-slippery. This paper addresses the problem of slip detection, a first fundamental step to implement appropriate control strategies and perform dynamic whole-body locomotion. We propose a slip detection approach, which is independent of the gait type and the estimation of the position and velocity of the robot in an inertial frame, that is usually prone to drift problems. To the best of our knowledge, this is the first approach of a quadruped robot slip detector that can detect more than one foot slippage at the same time, relying on the estimation of measurements expressed in a non-inertial frame. We validate the approach on the 90 kg Hydraulically actuated Quadruped robot (HyQ) from the Istituto Italiano di Tecnologia (IIT), and we compare it against a state-of-the-art slip detection algorithm.},
DOI = {10.3390/s22082967}
}
@INPROCEEDINGS{clemente22icra,
AUTHOR = {Clemente, Luca and Villarreal, Octavio and Bratta, Angelo and Focchi, Michele and Barasuol, Victor and Muscolo, Giovanni Gerardo and Semini, Claudio},
TITLE = {Foothold Evaluation Criterion for Dynamic Transition Feasibility for
Quadruped Robots},
YEAR = {2022},
BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},
PAGES = {4679-4685},
DOI = {10.1109/ICRA46639.2022.9812434}
}
@INPROCEEDINGS{semini21irim,
AUTHOR = {Semini, Claudio and Bratta, Angelo and Focchi, Michele and Gatti, Matteo and Poni, Stefano and Barasuol, Victor},
TITLE = {First Field Tests of a Legged Robot in a Vineyard},
YEAR = {2021},
BOOKTITLE = {I-RIM Conference}
}
@INPROCEEDINGS{bratta21irim,
AUTHOR = {Bratta, Angelo and Rathod, Niraj and Zanon, Mario and Villarreal, Octavio and Bemporad, Alberto and Semini, Claudio and Focchi, Michele},
TITLE = {Towards a Nonlinear Model Predictive Control for Quadrupedal Locomotion on Rough Terrain},
YEAR = {2021},
BOOKTITLE = {I-RIM Conference}
}
@misc{rathod21access,
title={Model Predictive Control with Environment Adaptation for Legged Locomotion},
author={Niraj Rathod and Angelo Bratta and Michele Focchi and Mario Zanon and Octavio Villarreal and Claudio Semini and Alberto Bemporad},
year={2021},
eprint={2105.05998},
archivePrefix={IEEE Access},
primaryClass={cs.RO}
volume={9},
number={},
pages={145710-145727},
doi={10.1109/ACCESS.2021.3118957}}
}
@Article{fahmi21lsens,
AUTHOR = {Fahmi, Shamel and Fink, Geoff and Semini, Claudio},
TITLE = {On State Estimation for Legged Locomotion over Soft Terrain},
JOURNAL = {{IEEE Sensors Letters (L-SENS)}},
YEAR = {2021},
MONTH = {Jan.},
VOLUME = {5},
NUMBER = {1},
PAGES = {1--4},
}
@INPROCEEDINGS{fernandes21cyber,
author={Fernandes, Miguel and Scaldaferri, Antonello and Fiameni, Giuseppe and Teng, Tao and Gatti, Matteo and Poni, Stefano and Semini, Claudio and Caldwell, Darwin and Chen, Fei},
booktitle={2021 IEEE 11th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)},
title={Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation},
year={2021},
pages={13-18},
doi={10.1109/CYBER53097.2021.9588303}
}
@Inbook{boaventura20springer,
author={Boaventura, Thiago and Semini, Claudio},
editor={Ang, Marcelo H. and Khatib, Oussama and Siciliano, Bruno},
title={Hydraulic Actuation},
booktitle={Encyclopedia of Robotics},
year={2020},
publisher={Springer Berlin Heidelberg},
pages={1--10},
isbn={978-3-642-41610-1},
doi={10.1007/978-3-642-41610-1_116-1}
}
@Inbook{semini20springer,
author={Semini, Claudio and Wieber, Pierre-Brice},
editor={Ang, Marcelo H. and Khatib, Oussama and Siciliano, Bruno},
title={Legged Robots},
bookTitle={Encyclopedia of Robotics},
year={2020},
publisher={Springer Berlin Heidelberg},
pages={1--8},
isbn={978-3-642-41610-1},
doi={10.1007/978-3-642-41610-1_59-1}
}
@INPROCEEDINGS{abdalla20irim,
AUTHOR = {Abdalla Abdelrahman and Focchi, Michele and Orsolino, Romeo and Semini, Claudio },
TITLE = {The Reachable Region: a Fast Kinematic Feasibility Criterion for Legged Locomotion},
YEAR = {2020},
BOOKTITLE = {I-RIM Conference}
}
@Article{mastalli20tro,
Author = {Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
Title = {Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control},
Journal = {{IEEE} Trans. Robot. ({T-RO})},
Year = {2020},
Pages = {1--14},
}
@ARTICLE{raiola20frontiers,
AUTHOR = {Raiola, Gennaro and Hoffman, Enrico Mingo and Focchi, Michele and Tsagarakis, Nikos and Semini, Claudio},
TITLE = {A simple yet effective whole-body locomotion framework for quadruped robots},
JOURNAL = {Frontiers in Robotics and AI},
YEAR = {2020},
URL = {https://www.frontiersin.org/articles/10.3389/frobt.2020.528473/full},
DOI = {10.3389/frobt.2020.528473},
}
@ARTICLE{orsolino19tro,
AUTHOR = {Orsolino, Romeo and Focchi, Michele and Caron Stéphane and Raiola, Gennaro and Barasuol, Victor and Darwin G. Caldwell and Semini, Claudio},
TITLE = {Feasible Region: an Actuation-Aware Extension of the Support Region},
JOURNAL = {{IEEE Transactions on Robotics (T-RO)}},
YEAR = {2020},
MONTH = {Aug.},
VOLUME = {36},
NUMBER = {4},
PAGES = {1239 - 1255},
}
@Article{fahmi2019tro,
Title = {{STANCE}: Locomotion Adaptation over Soft Terrain},
Author = {Fahmi, Shamel and Focchi, Michele and Radulescu, Andreea and Fink, Geoff and Barasuol, Victor and Semini, Claudio},
Journal = {{IEEE} Trans. Robot. ({T-RO})},
Year = {2019},
Month = {Oct.},
Pages = {1--15},
}
@Inbook{focchi2020star,
author={"Focchi, Michele and Orsolino, Romeo and Camurri, Marco and Barasuol, Victor and Mastalli, Carlos and Caldwell, Darwin G. and Semini, Claudio"},
title={Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality},
bookTitle={Advances in Robotics Research: From Lab to Market: ECHORD++: Robotic Science Supporting Innovation},
year={2020},
publisher= {Springer International Publishing},
pages={165--209},
isbn={978-3-030-22327-4},
doi={10.1007/978-3-030-22327-4_9},
url={https://doi.org/10.1007/978-3-030-22327-4_9}
}
@Article{fahmi2019ral,
Title = {Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain},
Author = {Fahmi, Shamel and Mastalli, Carlos and Focchi, Michele and Semini, Claudio},
Journal = {{IEEE} Robot. Automat. Lett. ({RA-L})},
Year = {2019},
Month = {Jul.},
Number = {3},
Pages = {2553--2560},
Volume = {4},
Doi = {10.1109/LRA.2019.2908502},
}
@ARTICLE{villarreal19ral,
author={Villarreal, Octavio and Barasuol, Victor and Camurri, Marco and Franceschi, Luca and Focchi, Michele and Pontil, Massimiliano and Caldwell, Darwin Gordon and Semini, Claudio},
journal={IEEE Robotics and Automation Letters},
title={Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs},
year={2019},
volume={},
number={},
pages={1-1},
video={https://www.youtube.com/watch?v=rxn79dPnaCI},
keywords={Legged locomotion;Robot sensing systems;Foot;Visualization;Trajectory;Legged Robots;Reactive and Sensor-Based Planning;Deep Learning in Robotics and Automation},
doi={10.1109/LRA.2019.2899434},
ISSN={2377-3766},
month={},}
@ARTICLE{frontiers18barasuol,
author = {Barasuol, Victor and Villarreal-Magaña, Octavio A. and Sangiah, Dhinesh and Frigerio, Marco and Baker, Mike and Morgan, Robert and Medrano-Cerda, Gustavo A. and Caldwell, Darwin Gordon and Semini, Claudio},
title = {Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds
for High-Bandwidth Force Control},
journal = {Frontiers in Robotics and AI},
volume = {5},
pages = {51},
year = {2018},
url = {https://www.frontiersin.org/article/10.3389/frobt.2018.00051},
doi = {10.3389/frobt.2018.00051},
issn = {2296-9144},
}
@INPROCEEDINGS{gonzalez20iros,
AUTHOR = {Gonzalez, Carlos and Barasuol, Victor and Frigerio, Marco and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
TITLE = {Line Walking and Balancing for Legged Robots with Point Feet},
YEAR = {2020},
}
@INPROCEEDINGS{fink20iros,
AUTHOR = {Fink, Geoff and Semini, Claudio},
BOOKTITLE = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
TITLE = {Proprioceptive Sensor Fusion for Quadruped Robot State Estimation},
PAGES = {1--7},
ADDRESS = {Las Vegas, Nevada},
MONTH = {Oct.},
YEAR = {2020},
}
@INPROCEEDINGS{esteban20clawar,
AUTHOR = {Esteban, Domingo and Villarreal, Octavio and Fahmi, Shamel and Semini, Claudio and Barasuol, Victor},
BOOKTITLE = {International Conference on Climbing and Walking Robots ({CLAWAR})},
TITLE = {{On the Influence of Body Velocity in Foothold Adaptation for Dynamic Legged Locomotion via CNNs}},
PAGES = {353-360},
ADDRESS = {Moscow, Russia},
MONTH = {Aug.},
YEAR = {2020},
}
@INPROCEEDINGS{fink20clawar,
AUTHOR = {Fink, Geoff and Semini, Claudio},
BOOKTITLE = {International Conference on Climbing and Walking Robots ({CLAWAR})},
TITLE = {The {DLS} Quadruped Proprioceptive Sensor Dataset},
PAGES = {1--8},
ADDRESS = {Moscow, Russia},
MONTH = {Aug.},
YEAR = {2020},
}
@InProceedings{bratta2020icra,
Title = {On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics},
Author = {Angelo {Bratta}, Romeo {Orsolino}, Michele {Focchi}, Victor {Barasuol}, Giovanni Gerardo {Muscolo} and Claudio {Semini}},
Booktitle = {Proc. {IEEE} Int. Conf. Robot. Automat. (ICRA)},
Year = {2020},
Month = {May},
Address = {Paris, France},
pages={1417-1423},
doi={10.1109/ICRA40945.2020.9196903}}
}
@InProceedings{villarreal2020icra,
Title = {MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion},
Author = {Octavio {Villarreal} and Victor {Barasuol} and Patrick {Wensing} and Claudio {Semini}},
Booktitle = {Proc. {IEEE} Int. Conf. Robot. Automat. (ICRA)},
Year = {2020},
Month = {May},
Address = {Paris, France},
}
@InProceedings{urbain2020,
Title = {Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot},
Author = {Gabriel {Urbain}, Victor {Barasuol}, Claudio {Semini}, Joni {Dambre} and Francis {wyffels}},
Booktitle = {Proc. {IEEE} Int. Conf. Robot. Automat. (ICRA)},
Year = {2020},
Month = May,
Address = {Paris, France},
}
@inproceedings{fink19iros,
author = {Geoff Fink, Claudio Semini},
title = {Proprioceptive Sensor Dataset for Quadrupeds},
month = {Nov},
pages = {1--5},
year = {2019},
maintitle = {Int. Conf. on Intell. Robots and Syst. (IROS)},
booktitle = {Workshop on Visual-Inertial Navigation: Challenges and Applications},
address = {Macao, China},
}
@INPROCEEDINGS{barasuol19clawar,
author={V. {Barasuol} and G. {Fink} and M. {Focchi} and D. G. {Caldwell} and C. {Semini}},
booktitle={International Conference on Climbing and Walking Robots (CLAWAR)},
title={On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots},
year={2019},
month={Oct},}
@INPROCEEDINGS{reinke19irc
AUTHOR = {A. {Reinke} and M. {Camurri} and C. {Semini},
BOOKTITLE = {2019 Third IEEE International Conference on Robotic Computing (IRC)},
TITLE = {A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots},
YEAR = {2019},
VOLUME = {},
NUMBER = {},
PAGES = {391-394},
}
@PATENT{focchi12,
NATIONALITY = {ARIPO, Eruasian, European},
NUMBER = {WO 2012/004738 Al},
YEAR = {2012},
YEARFILED = {2013},
AUTHOR = {Focchi, Michele and Guglielmino, Emanuele and Pane, Gianluca and Cordasco, Stefano and Tacchino, Carlo and Caldwell, Darwin G},
TITLE = {Device for generating electric power from a source of air or other gas or fluid under pressure},
__MARKEDENTRY = {[mfocchi:6]},
OWNER = {mfocchi},
TIMESTAMP = {2013.03.13},
}
@INPROCEEDINGS{focchi10iros,
author={M. {Focchi} and E. {Guglielmino} and C. {Semini} and A. {Parmiggiani} and N. {Tsagarakis} and B. {Vanderborght} and D. G. {Caldwell}},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={Water/air performance analysis of a fluidic muscle},
year={2010},
volume={},
number={},
pages={2194-2199},
keywords={flow control;fluidic devices;hydraulic systems;mobile robots;pneumatic actuators;pneumatic control equipment;water-air performance analysis;fluidic muscle;energetic point;higher bulk modulus;pressure bandwidth;force bandwidth;load variations;hydraulic stiff actuation system;hydraulic system pressure;water bulk modulus;unconventional pressure range;Muscles;Bandwidth;Valves;Force;Regulators;Robots;Pressure measurement},
doi={10.1109/IROS.2010.5650432},
ISSN={2153-0866},
month={Oct},}
@INPROCEEDINGS{focchi10icra,
author={M. {Focchi} and E. {Guglielmino} and C. {Semini} and T. {Boaventura} and Y. {Yang} and D. G. {Caldwell}},
booktitle={IEEE International Conference on Robotics and Automation},
title={Control of a hydraulically-actuated quadruped robot leg},
year={2010},
volume={},
number={},
pages={4182-4188},
keywords={hydraulic actuators;legged locomotion;mobile robots;motion control;hydraulically-actuated quadruped robot leg;autonomous quadruped robot;hip joints;knee joints;actuation system;proportional valves;asymmetric cylinders;PED controller;linear quadratic regulator;feedback linearisation controller;Legged locomotion;Leg;MIMO;Linear feedback control systems;Frequency;Biological system modeling;Biological control systems;Robots;Hip;Knee},
doi={10.1109/ROBOT.2010.5509697},
ISSN={1050-4729},
month={May},}
@PHDTHESIS{villarreal20phd,
AUTHOR = {Villarreal, Octavio},
TITLE = {Bridging Vision and Dynamic Legged Locomotion},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2020},
OWNER = {phd},
TIMESTAMP = {2020.03.30},
}
@PHDTHESIS{orsolino19phd,
AUTHOR = {Orsolino, Romeo},
TITLE = {Actuation-Aware Simplified Dynamic Models for Robotic Legged Locomotion},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2019},
OWNER = {phd}
}
@PHDTHESIS{gao18phd,
author = {Gao, Yifu},
title = {Towards the Design and Evaluation of Robotic Legs of Quadruped Robots},
school = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
year = {2018},
owner = {phd},
timestamp = {2017.09.29}
}
@ARTICLE{orsolino18ral,
author = {Orsolino, Romeo and Focchi, Michele and Mastalli, Carlos and Dai, Hongkai and Caldwell, G. D. and Semini, Claudio},
title = {Application of Wrench Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots},
booktitle = {IEEE Robotics and Automation Letters},
year = {2018},
video={https://youtu.be/vUx5b5kfRfE},
doi = {10.1109/LRA.2018.2836441}
}
@ARTICLE{raiola18ral,
author = {G. Raiola and C. A. Cardenas and T. S. Tadele and T. De Vries and S. Stramigioli},
title = {Development of a Safety and Energy Aware Impedance Controller for Collaborative Robots},
booktitle = {IEEE Robotics and Automation Letters},
doi = {10.1109/LRA.2018.2795639},
year = {2018},
video={https://www.youtube.com/watch?v=tFSSHXn5cGI}
}
@PHDTHESIS{camurri17phd,
author = {Camurri, Marco},
title = {Multisensory State Estimation and Mapping on Dynamic Legged Robots},
school = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
year = {2017},
owner = {phd},
timestamp = {2017.09.29}
}
@PHDTHESIS{mastalli17phd,
author = {Mastalli, Carlos},
title = {Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain},
school = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
year = {2017},
owner = {phd},
timestamp = {2017.09.29}
}
@ARTICLE{aceituno_mastalli17ral,
author = {Aceituno-Cabezas, Bernardo and Mastalli, Carlos and Dai, Hongkai and Focchi, Michele and Radulescu, Andreea and Caldwell, Dawrin G. and Cappelletto J. and Grieco, J. C. and Fernandez-Lopez G. and Semini, Claudio},
booktitle = {IEEE Robotics and Automation Letters},
title = {Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization},
doi={10.1109/LRA.2017.2779821},
year = {2017},
video={https://www.youtube.com/watch?v=RXIAQJx5938}
}
@ARTICLE{raiola17joss,
author = {Chitta, Sachin and Marder-Eppstein, Eitan and Meeussen, Wim and Pradeep, Vijay and Rodriguez Tsouroukdissian, Adolfo and Bohren, Jonathan and Coleman, David and Magyar, Bence and Raiola, Gennaro and Luedtke, Mathias and Fernandez Perdomo, Enrique},
booktitle = {The Journal of Open Source Software},
title = {ros_control: A generic and simple control framework for ROS},
year = {2017},
doi={10.21105/joss.00456}
}
@ARTICLE{giftthaler17advr,
author = {Giftthaler, Markus and Neunert, Micheal and Staeuble, Markus and Frigerio, Marco and Semini, Claudio and Buchli, Jonas},
booktitle = {Advanced Robotics},
title = {Automatic differentiation of rigid body dynamics for optimal control and estimation},
volume = {0},
number = {0},
pages = {1-13},
year = {2017},
publisher = {Taylor & Francis},
year = {2017},
URL = {http://dx.doi.org/10.1080/01691864.2017.1395361},
doi={10.1080/01691864.2017.1395361}
}
@ARTICLE{khan17sensors,
author = {Khan, Hamza and D'Imperio, Mariapaola and Cannella, Ferdinando and Caldwell, Darwin G. and Cuschieri, Alfred and Semini, Claudio},
booktitle = {Sensors},
title = {Towards Scalable Strain Gauge-Based Joint Torque Sensors},
year = {2017},
doi={10.3390/s17081905}
}
@INPROCEEDINGS{heijmink17humanoids,
author = {Heijmink, Elco and Radulescu, Andreea and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {12th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017},
title = {Learning Optimal Gait Parameters and Impedance Profiles for Legged Locomotion},
year = {2017}
}
@INPROCEEDINGS{focchi17iros,
author = {Focchi, Michele and Featherstone, Roy and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title = {Viscosity-based Height Reflex for Workspace Augmentation for Quadrupedal Locomotion on Rough Terrain},
year = {2017}
}
@INPROCEEDINGS{tournois17iros,
author = {Tournois, Guido and Focchi, Michele and del Prete, Andrea and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title = {Online Payload Identification for Quadruped Robots},
year = {2017}
}
@ARTICLE{dollar17ram,
author = {Dollar, A. and Semini, C. and Cho, K. and Ciocarlie M.},
booktitle = {IEEE Robotics and Automation Magazine},
title = {Bringing Together Researchers in Robot Mechanisms and Design},
year = {2017},
doi={10.1109/MRA.2016.2646069}
}
@ARTICLE{mattila17asme-tmech,
author = {Mattila, J. and Semini, C. and Moon, H. and Buchli, J.and Hyon, S. and Li, P.Y. and Yao, B.},
booktitle = {IEEE/ASME Transactions on Mechatronics},
title = {Guest editorial introduction to the focused section on design andcontrol of hydraulic robots},
year = {2017},
doi={10.1109/TMECH.2017.2668611},
url = {http://dx.doi.org/10.1109/TMECH.2017.2668611}
}
@INPROCEEDINGS{koivumaki17fpmc,
author = {Koivumaki, J. and Mattila, J. and Semini, Claudio and Caldwell, Darwin G.},
booktitle = {ASME Symposium on Fluid Power and Motion Control (FPMC)},
title = {Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures},
year = {2017}
}
@INPROCEEDINGS{gao17icarm,
author = {Gao, Yifu and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {International Conference on Advanced Robotics and Mechatronics (ICARM)},
title = {Kinematic Design of a Configurable Terrain Simulator Platform for Robotic Legs},
year = {2017}
}
@INPROCEEDINGS{frigerio17clawar,
author = {Frigerio, Marco and Barasuol, Victor and Focchi, Michiele and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)},
title = {Validation of Computer Simulations of the HyQ robot},
year = {2017}
}
@INPROCEEDINGS{nobili_camurri2017rss,
AUTHOR = {Nobili, S. and Camurri, M. and Barasuol, V. and Focchi, M. and Caldwell, D. G. and Semini, C. and Fallon, M.},
TITLE = {Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2017},
ADDRESS = {Boston, USA},
MONTH = {July}
}
@INPROCEEDINGS{rehman17clawar,
author = {Rehman, Bilal U and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)},
title = {Centaur Robots - a Survey},
year = {2017}
}
@INPROCEEDINGS{orsolino17clawar,
author = {Orsolino, Romeo and Focchi, Michele and Caldwell, Darwin G. and Semini,
Claudio},
booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)},
title = {A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding},
year = {2017}
}
@INPROCEEDINGS{mastalli17icra,
author = {Mastalli, Carlos and Focchi, Michele and Havoutis, Ioannis and Radulescu,
Andreea and Calinon, Sylvain and Buchli, Jonas and Caldwell, Darwin G. and Semini,
Claudio},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
title = {Trajectory and Foothold Optimization using Low-Dimensional Models for
Rough Terrain Locomotion},
year = {2017}
}
@INPROCEEDINGS{radulescu17icra,
author = {Radulescu, Andreea and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},
title = {Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2017}
}
@CONFERENCE{radulescu16hfr,
author = {Radulescu, Andreea and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},
title = {Optimization for Non-Periodic Dynamic Motions of Legged Systems},
journal = {Human Friendly Robotics},
year = {2016},
owner = {aradulescu},
timestamp = {2016.12.05}
}
@ARTICLE{mattila17tmech,
author={Mattila, Jouni and Koivumaki, Janne and Caldwell, Darwin G. and
Semini, Claudio},
journal={IEEE/ASME Transactions on Mechatronics},
title={A Survey on Control of Hydraulic Robotic Manipulators with
Projection to Future Trends},
year={2017},
volume={PP},
number={99},
pages={1-1},
keywords={Actuators;Legged locomotion;Manipulators;Service
robots;Stability analysis;force control;hydraulic manipulators;motion
control;performance evaluation;robotics},
doi={10.1109/TMECH.2017.2668604},
ISSN={1083-4435},
month={},}
@ARTICLE{camurri17ral,
author={M. Camurri and M. Fallon and S. Bazeille and A. Radulescu and V.
Barasuol and D. G. Caldwell and C. Semini},
journal={IEEE Robotics and Automation Letters},
title={Probabilistic Contact Estimation and Impact Detection for State
Estimation of Quadruped Robots},
year={2017},
volume={2},
number={2},
pages={1023-1030},
keywords={Estimation;Foot;Legged locomotion;Robot kinematics;Robot
sensing systems;Localization;multilegged robots;sensor fusion},
doi={10.1109/LRA.2017.2652491},
ISSN={2377-3766},
month={April},
}
@INPROCEEDINGS{neunert16simpar,
author = {Neunert, Michael and Giftthaler, Markus and Frigerio, Marco and Semini, Claudio and Buchli, Jonas},
title = {Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation},
booktitle = {IEEE International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)},
year = {2016}
}
@CONFERENCE{orsolino16hfr,
author = {Orsolino, Romeo and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
title = {An Asymmetric Model for Quadrupedal Bounding in Place},
journal = {Human Friendly Robotics},
year = {2016},
owner = {rorsolino},
timestamp = {2016.12.05}
}
@INPROCEEDINGS{gao16robio,
author = {Gao, Yifu and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
title = {Study on the Morphological Parameters of Quadruped Robot Designs Considering Ditch Traversability},
booktitle = {IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO)},
year = {2016}
}
@ARTICLE{tmech16semini,
author={Semini, Claudio and Barasuol, Victor and Goldsmith, Jake and Frigerio, Marco and Focchi, Michele and Gao, Yifu and Caldwell, Darwin G.},
journal={IEEE/ASME Transactions on Mechatronics},
title={Design of the Hydraulically-Actuated, Torque-Controlled Quadruped Robot HyQ2Max},
year={2016},
volume={PP},
number={99},
pages={1-1},
keywords={Actuators;Biological system modeling;Couplings;Legged locomotion;Mechatronics;Vehicle dynamics},
doi={10.1109/TMECH.2016.2616284},
ISSN={1083-4435}
}
@ARTICLE{frigerio2016robcogen,
author = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio },
title = {RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages},
journal = {Journal of Software Engineering for Robotics (JOSER)},
year = {2016},
date = {July},
volume = {7},
number = {1},
issue = {Special Issue on Domain-Specific Languages and Models for Robotic Systems},
pages = {36--54},
url={http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%5D=98}
}
@ARTICLE{focchi2016,
author="Focchi, Michele and del Prete, Andrea and Havoutis, Ioannis and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio",
title="High-slope terrain locomotion for torque-controlled quadruped robots",
journal="Autonomous Robots",
year="2017",
volume= "41",
number= "1",
pages="259-272",
doi="10.1007/s10514-016-9573-1",
url="http://dx.doi.org/10.1007/s10514-016-9573-1",
ISSN="1083-4435"
}
@ARTICLE{focchi16ctt,
author="Focchi, Michele and Medrano-Cerda, Gustavo A. and Boaventura, Thiago and Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.",
title="Robot impedance control and passivity analysis with inner torque and velocity feedback loops",
journal="Control Theory and Technology",
year="2016",
issn="2198-0942",
doi="10.1007/s11768-016-5015-z",
url="http://dx.doi.org/10.1007/s11768-016-5015-z"
}
@INPROCEEDINGS{icra16brehman,
author = {Rehman, Bilal U and Focchi, Michele and Lee, Jinoh and Dallali, Houman and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
title = {Towards a Multi-legged Mobile Manipulator},
month = may,
publisher = {IEEE},
year = {2016},
doi = {10.1109/ICRA.2016.7487545}
}
@INPROCEEDINGS{kuwahara16acm,
author = {Kuwahara, Hiroaki and Terai, Fujio and Focchi, Michele and Medrano-Cerda, Gustavo A. and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {IEEE International Workshop on Advanced Motion Control (AMC)},
title = {A Design Method of A Robust Controller for Hydraulic Actuation with Disturbance Observers},
month = {april},
publisher = {IEEE},
year = {2016},
doi = {10.1109/AMC.2016.7496365}
}
@INPROCEEDINGS{icra16mastalli,
author = {Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
title = {Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences},
month = may,
publisher = {IEEE},
year = {2016},
doi = {10.1109/ICRA.2016.7487664}
}
@INCOLLECTION{raey,
author = {Caldwell, Darwin G. and Tsagarakis, Nikos and Semini, Claudio},
title = {Mechanism and Structures: Humanoids and Quadrupeds},
booktitle = {Bioinspired Approaches for Human-Centric Technologies},
publisher = {Springer International Publishing},
year = {2014},
editor = {Cingolani, Roberto},
pages = {133-153},
doi = {10.1007/978-3-319-04924-3_5},
isbn = {978-3-319-04923-6},
language = {English},
}
@INPROCEEDINGS{liu15robio,
author={Liu, Xin and Semini, Claudio and Poulakakis, Ioannis},
booktitle={IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO)},
title={Active Compliance Hybrid Zero Dynamics Control of Bounding on HyQ},
year={2015},
month={December},
doi={10.1109/ROBIO.2015.7418910}
}
@INPROCEEDINGS{havoutis15clawar,
author={Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},
booktitle={International Conference on Climbing and Walking Robots (CLAWAR)},
title={Lidar-based navigation-level path planning for field-capable legged robots},
year={2015},
month={December},
url={http://www.worldscientific.com/worldscibooks/10.1142/9820}
}
@ARTICLE{boaventura15tro,
author={Boaventura, T. and Buchli, J. and Semini, C. and Caldwell, D.G.},
journal={Robotics, IEEE Transactions on},
title={Model-Based Hydraulic Impedance Control for Dynamic Robots},
year={2015},
volume={31},
number={6},
pages={1324-1336},
keywords={Dynamics;Force control;Hydraulic actuators;Impedance;Legged locomotion;Force control;hydraulics;impedance control;legged robots},
doi={10.1109/TRO.2015.2482061},
ISSN={1552-3098},
month={Dec}
}
@ARTICLE{dallali15ctt,
year={2015},
issn={2095-6983},
journal={Control Theory and Technology},