Michele Focchi

Publication Activity (10 Years)

Years Active: 2010-2024
Publications (10 Years): 53

Top Topics

Quadruped Robot

Predictive Control

Motion Planning

Impedance Control

Top Venues

IEEE Robotics Autom. Lett.

IEEE Trans. Robotics

Publications

Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Marco Frego, Angelika Peer, Luigi Palopoli
ALPINE: a climbing robot for operations in mountain environments. CoRR (2024)
Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. UR (2024)
Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
Efficient Reinforcement Learning for 3D Jumping Monopods. Sensors 24 (15) (2024)
Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments. ICRA (2023)
Michele Focchi, Francesco Roscia, Claudio Semini
Locosim: An Open-Source Cross-Platform Robotics Framework. CLAWAR (2) (2023)
Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
Efficient Reinforcement Learning for Jumping Monopods. 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)
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)
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)
Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments. CoRR (2022)
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. CoRR (2022)
Gennaro Raiola, Michele Focchi, Enrico Mingo Hoffman
WoLF: the Whole-body Locomotion Framework for Quadruped Robots. CoRR (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)
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)
Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini
STANCE: Locomotion Adaptation Over Soft Terrain. IEEE Trans. Robotics 36 (2) (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)
Michele Focchi, Daniele Pucci, Andrea Del Prete
Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots. Frontiers Robotics AI 7 (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)
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)
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)
Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Claudio Semini
Feasible Region: an Actuation-Aware Extension of the Support Region. CoRR (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)
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)
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)
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)
Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini
Online payload identification for quadruped robots. IROS (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)
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)
Marco Frigerio, Victor Barasuol, Michele Focchi, Claudio Semini
Validation of computer simulations of the HyQ robot. CoRR (2016)
Hiroaki Kuwahara, Fujio Terai, Michele Focchi, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Claudio Semini
A design method of a robust controller for hydraulic actuation with disturbance observers. AMC (2016)
Michele Focchi, Victor Barasuol, Marco Frigerio, Darwin G. Caldwell, Claudio Semini
Slip Detection and Recovery for Quadruped Robots. ISRR (2) (2015)
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. ICRA (2015)
Claudio Semini, Victor Barasuol, Thiago Boaventura Cunha, Marco Frigerio, Michele Focchi, Darwin G. Caldwell, Jonas Buchli
Towards versatile legged robots through active impedance control. Int. J. Robotics Res. 34 (7) (2015)
Michele Focchi, Gustavo A. Medrano-Cerda, Thiago Boaventura Cunha, Marco Frigerio, Claudio Semini, Jonas Buchli, Darwin G. Caldwell
Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops. CoRR (2014)
Alexander W. Winkler, Ioannis Havoutis, Stéphane Bazeille, Jesús Ortiz, Michele Focchi, Rüdiger Dillmann, Darwin G. Caldwell, Claudio Semini
Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots. ICRA (2014)
Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell, Claudio Semini
Quadruped robot trotting over irregular terrain assisted by stereo-vision. Intell. Serv. Robotics 7 (2) (2014)
Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Claudio Semini, Darwin G. Caldwell
Vision enhanced reactive locomotion control for trotting on rough terrain. TePRA (2013)
Thiago Boaventura Cunha, Claudio Semini, Jonas Buchli, Marco Frigerio, Michele Focchi, Darwin G. Caldwell
Dynamic torque control of a hydraulic quadruped robot. ICRA (2012)
Michele Focchi, Thiago Boaventura, Claudio Semini, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell
Torque-control based compliant actuation of a quadruped robot. AMC (2012)
Thiago Boaventura Cunha, Michele Focchi, Marco Frigerio, Jonas Buchli, Claudio Semini, Gustavo A. Medrano-Cerda, Darwin G. Caldwell
On the role of load motion compensation in high-performance force control. IROS (2012)
Michele Focchi, Emanuele Guglielmino, Claudio Semini, Thiago Boaventura Cunha, Yousheng Yang, Darwin G. Caldwell
Control of a hydraulically-actuated quadruped robot leg. ICRA (2010)
Michele Focchi, Emanuele Guglielmino, Claudio Semini, Alberto Parmiggiani, Nikolaos G. Tsagarakis, Bram Vanderborght, Darwin G. Caldwell
Water/air performance analysis of a fluidic muscle. IROS (2010)