Claudio Semini

ORCID

Publication Activity (10 Years)

Years Active: 2009-2024
Publications (10 Years): 103

Top Venues

Publications

Giulio Turrisi, Valerio Modugno, Lorenzo Amatucci, Dimitrios Kanoulas, Claudio Semini
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion. CoRR (2024)
Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
Leveraging Symmetry in RL-based Legged Locomotion Control. CoRR (2024)
Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. UR (2024)
Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization. CoRR (2024)
Gabriel Fischer Abati, João Carlos Virgolino Soares, Vivian Suzano Medeiros, Marco Antonio Meggiolaro, Claudio Semini
Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation. CoRR (2024)
Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini
VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal. J. Field Robotics 41 (6) (2024)
Daniel Felipe Ordoñez Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martín, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli
Morphological Symmetries in Robotics. CoRR (2024)
Gabriel Fischer Abati, João Carlos Virgolino Soares, Vivian Suzano Medeiros, Marco Antonio Meggiolaro, Claudio Semini
Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation. UR (2024)
Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil
Dynamics harmonic analysis of robotic systems: Application in data-driven Koopman modelling. L4DC (2024)
Giulio Turrisi, Lucas Schulze, Vivian S. Medeiros, Claudio Semini, Victor Barasuol
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control. CoRR (2024)
Victor Barasuol, Sinan Emre, Vivian Suzano Medeiros, Angelo Bratta, Claudio Semini
Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots. ICRA (2024)
Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators. IROS (2023)
Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, Pietro Novelli, Carlos Mastalli, Claudio Semini, Massimiliano Pontil
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling. CoRR (2023)
Michele Focchi, Francesco Roscia, Claudio Semini
Locosim: An Open-Source Cross-Platform Robotics Framework. CLAWAR (2) (2023)
Shamel Fahmi, Victor Barasuol, Domingo Esteban, Octavio Villarreal, Claudio Semini
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots. IEEE Trans. Robotics 39 (2) (2023)
Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, Sven Behnke
Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller. IROS (2023)
Shafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, Claudio Semini
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. CoRR (2023)
Lee Milburn, Juan Gamba, Miguel Fernandes, Claudio Semini
Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots. CoRR (2023)
Shafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, Claudio Semini
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. Humanoids (2023)
Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, Sven Behnke
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller. CoRR (2023)
Angelo Bratta, Michele Focchi, Niraj Rathod, Claudio Semini
Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots. Robotics 12 (1) (2023)
Victor Barasuol, Sinan Emre, Claudio Semini
Stair-Climbing Charts: On the Optimal Body Height for Quadruped Robots to Walk on Stairs. CLAWAR (1) (2023)
Lee Milburn, Juan Gamba, Claudio Semini
Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots. CoRR (2023)
Chie Takahashi, Barry Lennox, Claudio Semini, Manuel Giuliani, Young Soo Park, William R. Hamel
Editorial: Robotics in extreme environments, volume II. Frontiers Robotics AI 10 (2023)
Shafeef Omar, Lorenzo Amatucci, Giulio Turrisi, Victor Barasuol, Claudio Semini
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion. CoRR (2023)
Michele Focchi, Francesco Roscia, Claudio Semini
Locosim: an Open-Source Cross-Platform Robotics Framework. CoRR (2023)
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. Sensors 23 (3) (2023)
Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini
Reactive Landing Controller for Quadruped Robots. IEEE Robotics Autom. Lett. 8 (11) (2023)
Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion. IEEE Trans. Robotics 39 (5) (2023)
Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators. CoRR (2023)
Lee Milburn, Juan Gamba, Miguel Fernandes, Claudio Semini
Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots. ICARSC (2023)
Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini
Reactive Landing Controller for Quadruped Robots. CoRR (2023)
Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots. CoRR (2022)
Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators. CoRR (2022)
Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators. IROS (2022)
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. CoRR (2022)
Shamel Fahmi, Victor Barasuol, Domingo Esteban, Octavio Villarreal, Claudio Semini
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots. CoRR (2022)
Ylenia Nisticò, Shamel Fahmi, Lucia Pallottino, Claudio Semini, Geoff Fink
On Slip Detection for Quadruped Robots. Sensors 22 (8) (2022)
Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots. ICRA (2022)
Angelo Bratta, Michele Focchi, Niraj Rathod, Mario Zanon, Alberto Bemporad, Claudio Semini
Governor: a Reference Generator for Nonlinear Model Predictive Control in Legged Robots. CoRR (2022)
Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. CoRR (2022)
Miguel Fernandes, Antonello Scaldaferri, Paolo Guadagna, Giuseppe Fiameni, Tao Teng, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin G. Caldwell, Fei Chen
Towards Precise Pruning Points Detection using Semantic-Instance-Aware Plant Models for Grapevine Winter Pruning Automation. CoRR (2021)
Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels
Effect of compliance on morphological control of dynamic locomotion with HyQ. Auton. Robots 45 (3) (2021)
Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad
Mobility-enhanced MPC for Legged Locomotion on Rough Terrain. CoRR (2021)
Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad
Model Predictive Control With Environment Adaptation for Legged Locomotion. IEEE Access 9 (2021)
Tao Teng, Miguel Fernandes, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin G. Caldwell, Fei Chen
Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation. CoRR (2021)
Chie Takahashi, Manuel Giuliani, Barry Lennox, William R. Hamel, Rustam Stolkin, Claudio Semini
Editorial: Robotics in Extreme Environments. Frontiers Robotics AI 8 (2021)
Miguel Fernandes, Antonello Scaldaferri, Giuseppe Fiameni, Tao Teng, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin G. Caldwell, Fei Chen
Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation. CoRR (2021)
Shamel Fahmi, Geoff Fink, Claudio Semini
On State Estimation for Legged Locomotion over Soft Terrain. CoRR (2021)
Octavio Villarreal, Victor Barasuol, Patrick M. Wensing, Darwin G. Caldwell, Claudio Semini
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. ICRA (2020)
Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini
STANCE: Locomotion Adaptation Over Soft Terrain. IEEE Trans. Robotics 36 (2) (2020)
Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot. ICRA (2020)
Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control. IEEE Trans. Robotics 36 (6) (2020)
Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion. CoRR (2020)
Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control. CoRR (2020)
Gennaro Raiola, Enrico Mingo Hoffman, Michele Focchi, Nikos G. Tsagarakis, Claudio Semini
A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots. Frontiers Robotics AI 7 (2020)
Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics. ICRA (2020)
Carlos Gonzalez, Victor Barasuol, Marco Frigerio, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
Line Walking and Balancing for Legged Robots with Point Feet. CoRR (2020)
Geoff Fink, Claudio Semini
Proprioceptive Sensor Fusion for Quadruped Robot State Estimation. IROS (2020)
Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
Feasible Region: An Actuation-Aware Extension of the Support Region. IEEE Trans. Robotics 36 (4) (2020)
Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre, Francis Wyffels
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot. CoRR (2020)
Carlos Gonzalez, Victor Barasuol, Marco Frigerio, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
Line Walking and Balancing for Legged Robots with Point Feet. IROS (2020)
Octavio Antonio Villarreal-Magaña, Victor Barasuol, Marco Camurri, Luca Franceschi, Michele Focchi, Massimiliano Pontil, Darwin G. Caldwell, Claudio Semini
Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs. IEEE Robotics Autom. Lett. 4 (2) (2019)
Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
On-line and on-board planning and perception for quadrupedal locomotion. CoRR (2019)
Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Claudio Semini
Feasible Region: an Actuation-Aware Extension of the Support Region. CoRR (2019)
Octavio Antonio Villarreal-Magaña, Victor Barasuol, Patrick M. Wensing, Claudio Semini
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. CoRR (2019)
Andrzej Reinke, Marco Camurri, Claudio Semini
A Factor Graph Approach to Multi-camera Extrinsic Calibration on Legged Robots. IRC (2019)
Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics. CoRR (2019)
Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences. CoRR (2019)
Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini
Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain. IEEE Robotics Autom. Lett. 4 (3) (2019)
Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization. CoRR (2019)
Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain. CoRR (2019)
Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini
STANCE: Locomotion Adaptation over Soft Terrain. CoRR (2019)
Andrzej Reinke, Marco Camurri, Claudio Semini
A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots. CoRR (2018)
Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini
Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots. IEEE Robotics Autom. Lett. 3 (4) (2018)
Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, José Cappelletto, Juan C. Grieco, Gerardo Fernández-López, Claudio Semini
Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization. IEEE Robotics Autom. Lett. 3 (3) (2018)
Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality. CoRR (2018)
Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini
Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain. CoRR (2018)
Victor Barasuol, Octavio Antonio Villarreal-Magaña, Dhinesh Sangiah, Marco Frigerio, Mike Baker, Robert Morgan, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Claudio Semini
Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control. Frontiers Robotics AI 5 (2018)
Koichi Suzumori, Sang-Ho Hyon, Claudio Semini, Jouni Mattila, Takefumi Kanda
Special Issue on 'New Hydraulic Components for Tough Robots'. Adv. Robotics 32 (9) (2018)
Octavio Antonio Villarreal-Magaña, Victor Barasuol, Marco Camurri, Michele Focchi, Luca Franceschi, Massimiliano Pontil, Darwin G. Caldwell, Claudio Semini
Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks. CoRR (2018)
Michele Focchi, Roy Featherstone, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini
Viscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain. IROS (2017)
Hamza Khan, Mariapaola D'Imperio, Ferdinando Cannella, Darwin G. Caldwell, Alfred Cuschieri, Claudio Semini
Towards Scalable Strain Gauge-Based Joint Torque Sensors. Sensors 17 (8) (2017)
Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP). CoRR (2017)
Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation. CoRR (2017)
Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini
Online payload identification for quadruped robots. IROS (2017)
Marco Camurri, Maurice F. Fallon, Stéphane Bazeille, Andreea Radulescu, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots. IEEE Robotics Autom. Lett. 2 (2) (2017)
Elco Heijmink, Andreea Radulescu, Brahayam Ponton, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
Learning optimal gait parameters and impedance profiles for legged locomotion. Humanoids (2017)
Stéphane Bazeille, Jesús Ortiz, Francesco Rovida, Marco Camurri, Anis Meguenani, Darwin G. Caldwell, Claudio Semini
Active camera stabilization to enhance the vision of agile legged robots. Robotica 35 (4) (2017)
Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli
Automatic differentiation of rigid body dynamics for optimal control and estimation. Adv. Robotics 31 (22) (2017)
Aaron M. Dollar, Claudio Semini, Kyujin Cho, Matei T. Ciocarlie
Bringing Together Researchers in Robot Mechanisms and Design [TC Spotlight]. IEEE Robotics Autom. Mag. 24 (1) (2017)
Yifu Gao, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
Kinematic design of a configurable terrain simulator platform for robotic legs. ICARM (2017)
Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini
A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes. CoRR (2017)
Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
High-slope terrain locomotion for torque-controlled quadruped robots. Auton. Robots 41 (1) (2017)
Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin G. Caldwell, Claudio Semini
Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion. ICRA (2017)
Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin G. Caldwell, Claudio Semini, Maurice F. Fallon
Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots. Robotics: Science and Systems (2017)
Andreea Radulescu, Ioannis Havoutis, Darwin G. Caldwell, Claudio Semini
Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems. ICRA (2017)
Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Hierarchical planning of dynamic movements without scheduled contact sequences. ICRA (2016)
Bilal Ur Rehman, Michele Focchi, Jinoh Lee, Houman Dallali, Darwin G. Caldwell, Claudio Semini
Towards a multi-legged mobile manipulator. ICRA (2016)
Yifu Gao, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
Study on the morphological parameters of quadruped robot designs considering ditch traversability. ROBIO (2016)

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Publication Activity (10 Years)

Top Topics

Top Venues

Claudio Semini