|Design of HyQ–a hydraulically and electrically actuated quadruped robot|
C Semini, NG Tsagarakis, E Guglielmino, M Focchi, F Cannella, ...
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of …, 2011
|Dynamic torque control of a hydraulic quadruped robot|
T Boaventura, C Semini, J Buchli, M Frigerio, M Focchi, DG Caldwell
2012 IEEE international conference on robotics and automation, 1889-1894, 2012
|Towards versatile legged robots through active impedance control|
C Semini, V Barasuol, T Boaventura, M Frigerio, M Focchi, DG Caldwell, ...
The International Journal of Robotics Research 34 (7), 1003-1020, 2015
|Design of the hydraulically actuated, torque-controlled quadruped robot HyQ2Max|
C Semini, V Barasuol, J Goldsmith, M Frigerio, M Focchi, Y Gao, ...
IEEE/ASME Transactions on Mechatronics 22 (2), 635-646, 2016
|Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain|
AW Winkler, C Mastalli, I Havoutis, M Focchi, DG Caldwell, C Semini
2015 IEEE International Conference on Robotics and Automation (ICRA), 5148-5154, 2015
|On the role of load motion compensation in high-performance force control|
T Boaventura, M Focchi, M Frigerio, J Buchli, C Semini, ...
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2012
|High-slope terrain locomotion for torque-controlled quadruped robots|
M Focchi, A Del Prete, I Havoutis, R Featherstone, DG Caldwell, C Semini
Autonomous Robots 41 (1), 259-272, 2017
|Robot impedance control and passivity analysis with inner torque and velocity feedback loops|
M Focchi, GA Medrano-Cerda, T Boaventura, M Frigerio, C Semini, ...
Control Theory and Technology 14 (2), 97-112, 2016
|Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots|
A Winkler, I Havoutis, S Bazeille, J Ortiz, M Focchi, R Dillmann, ...
2014 IEEE International Conference on Robotics and Automation (ICRA), 6476-6482, 2014
|Local reflex generation for obstacle negotiation in quadrupedal locomotion|
M Focchi, V Barasuol, I Havoutis, J Buchli, C Semini, DG Caldwell
Nature-Inspired Mobile Robotics, 443-450, 2013
|Simultaneous contact, gait, and motion planning for robust multilegged locomotion via mixed-integer convex optimization|
B Aceituno-Cabezas, C Mastalli, H Dai, M Focchi, A Radulescu, ...
IEEE Robotics and Automation Letters 3 (3), 2531-2538, 2017
|Torque-control based compliant actuation of a quadruped robot|
M Focchi, T Boaventura, C Semini, M Frigerio, J Buchli, DG Caldwell
2012 12th IEEE international workshop on advanced motion control (AMC), 1-6, 2012
|Control of a hydraulically-actuated quadruped robot leg|
M Focchi, E Guglielmino, C Semini, T Boaventura, Y Yang, DG Caldwell
2010 IEEE International Conference on Robotics and Automation, 4182-4188, 2010
|Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion|
C Mastalli, M Focchi, I Havoutis, A Radulescu, S Calinon, J Buchli, ...
2017 IEEE International Conference on Robotics and Automation (ICRA), 1096-1103, 2017
|Water/air performance analysis of a fluidic muscle|
M Focchi, E Guglielmino, C Semini, A Parmiggiani, N Tsagarakis, ...
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2010
|Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots|
S Nobili, M Camurri, V Barasuol, M Focchi, D Caldwell, C Semini, ...
Robotics: Science and Systems Foundation, 2017
|Quadruped robot trotting over irregular terrain assisted by stereo-vision|
S Bazeille, V Barasuol, M Focchi, I Havoutis, M Frigerio, J Buchli, ...
Intelligent Service Robotics 7 (2), 67-77, 2014
|Hierarchical planning of dynamic movements without scheduled contact sequences|
C Mastalli, I Havoutis, M Focchi, DG Caldwell, C Semini
2016 IEEE International Conference on Robotics and Automation (ICRA), 4636-4641, 2016
|Towards a multi-legged mobile manipulator|
BU Rehman, M Focchi, J Lee, H Dallali, DG Caldwell, C Semini
2016 IEEE International Conference on Robotics and Automation (ICRA), 3618-3624, 2016
|Design of a hydraulically actuated arm for a quadruped robot|
B UR REHMAN, M Focchi, M Frigerio, J Goldsmith, DG Caldwell, ...
ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on …, 2016