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Claudio Semini
Claudio Semini
Head of the Dynamic Legged Systems Lab at Istituto Italiano di Tecnologia
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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
8472011
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
3032016
A survey on control of hydraulic robotic manipulators with projection to future trends
J Mattila, J Koivumäki, DG Caldwell, C Semini
iEeE/ASME Transactions on Mechatronics 22 (2), 669-680, 2017
2562017
A reactive controller framework for quadrupedal locomotion on challenging terrain
V Barasuol, J Buchli, C Semini, M Frigerio, ER De Pieri, DG Caldwell
2013 IEEE International Conference on Robotics and Automation, 2554-2561, 2013
2462013
HyQ—Design and development of a hydraulically actuated quadruped robot
C Semini
PD Thesis, University of Genoa, Italy, 2010
2402010
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, 259-272, 2017
2212017
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
2032012
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
2022015
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
1802017
MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping
B Vanderborght, NG Tsagarakis, C Semini, R Van Ham, DG Caldwell
2009 IEEE International Conference on Robotics and Automation, 544-549, 2009
1792009
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
1592015
Model-based hydraulic impedance control for dynamic robots
T Boaventura, J Buchli, C Semini, DG Caldwell
IEEE Transactions on Robotics 31 (6), 1324-1336, 2015
1422015
Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control
C Mastalli, I Havoutis, M Focchi, DG Caldwell, C Semini
IEEE Transactions on Robotics 36 (6), 1635-1648, 2020
1272020
Passive whole-body control for quadruped robots: Experimental validation over challenging terrain
S Fahmi, C Mastalli, M Focchi, C Semini
IEEE Robotics and Automation Letters 4 (3), 2553-2560, 2019
1232019
Stability and performance of the compliance controller of the quadruped robot HyQ
T Boaventura, GA Medrano-Cerda, C Semini, J Buchli, DG Caldwell
2013 IEEE/RSJ international conference on intelligent robots and systems …, 2013
1042013
HyQ-Hydraulically actuated quadruped robot: Hopping leg prototype
C Semini, NG Tsagarakis, B Vanderborght, Y Yang, DG Caldwell
2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and …, 2008
1042008
Probabilistic contact estimation and impact detection for state estimation of quadruped robots
M Camurri, M Fallon, S Bazeille, A Radulescu, V Barasuol, DG Caldwell, ...
IEEE Robotics and Automation Letters 2 (2), 1023-1030, 2017
1012017
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
992017
Mpc-based controller with terrain insight for dynamic legged locomotion
O Villarreal, V Barasuol, PM Wensing, DG Caldwell, C Semini
2020 IEEE International Conference on Robotics and Automation (ICRA), 2436-2442, 2020
942020
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, 97-112, 2016
892016
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