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Journal Articles

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2024
[j18]
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  - journals/sensors/BussolaFPFP24
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Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli:
Efficient Reinforcement Learning for 3D Jumping Monopods. Sensors 24(15): 4981 (2024)
2023
[j17]
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Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini:
Reactive Landing Controller for Quadruped Robots. IEEE Robotics Autom. Lett. 8(11): 7210-7217 (2023)
[j16]
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  - journals/robotics/BrattaFRS23
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Angelo Bratta, Michele Focchi, Niraj Rathod, Claudio Semini:
Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots. Robotics 12(1): 6 (2023)
[j15]
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Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi:
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. Sensors 23(3): 1234 (2023)
[j14]
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Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini:
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion. IEEE Trans. Robotics 39(5): 3499-3515 (2023)
2021
[j13]
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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: 145710-145727 (2021)
2020
[j12]
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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: 528473 (2020)
[j11]
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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: 629002 (2020)
[j10]
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Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini:
STANCE: Locomotion Adaptation Over Soft Terrain. IEEE Trans. Robotics 36(2): 443-457 (2020)
[j9]
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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): 1239-1255 (2020)
[j8]
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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): 1635-1648 (2020)
2019
[j7]
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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): 2140-2147 (2019)
[j6]
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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): 2553-2560 (2019)
2018
[j5]
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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): 2531-2538 (2018)
[j4]
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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): 3363-3370 (2018)
2017
[j3]
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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): 259-272 (2017)
2015
[j2]
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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): 1003-1020 (2015)
2014
[j1]
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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): 67-77 (2014)

Conference and Workshop Papers

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2024
[c21]
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  - conf/urai/BrattaMFRS24
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Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini:
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. UR 2024: 747-754
2023
[c20]
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  - conf/clawar/FocchiRS23
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Michele Focchi, Francesco Roscia, Claudio Semini:
Locosim: An Open-Source Cross-Platform Robotics Framework. CLAWAR (2) 2023: 395-406
[c19]
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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: 7742-7748
2022
[c18]
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  - conf/icra/ClementeVBFBMS22
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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: 4679-4685
2020
[c17]
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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: 1417-1423
2017
[c16]
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  - conf/icra/MastalliFHRCBCS17
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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: 1096-1103
[c15]
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  - conf/iros/TournoisFPOCS17
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Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini:
Online payload identification for quadruped robots. IROS 2017: 4889-4896
[c14]
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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: 5353-5360
[c13]
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  - conf/rss/NobiliCBFCSF17
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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
2016
[c12]
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  - conf/amc/KuwaharaTFMCS16
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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: 289-296
[c11]
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  - conf/icra/RehmanFLDCS16
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Bilal Ur Rehman, Michele Focchi, Jinoh Lee, Houman Dallali, Darwin G. Caldwell, Claudio Semini:
Towards a multi-legged mobile manipulator. ICRA 2016: 3618-3624
[c10]
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Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Hierarchical planning of dynamic movements without scheduled contact sequences. ICRA 2016: 4636-4641
2015
[c9]
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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: 5148-5154
[c8]
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Michele Focchi, Victor Barasuol, Marco Frigerio, Darwin G. Caldwell, Claudio Semini:
Slip Detection and Recovery for Quadruped Robots. ISRR (2) 2015: 185-199
2014
[c7]
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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: 6476-6482
2013
[c6]
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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: 1-6
2012
[c5]
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Michele Focchi, Thiago Boaventura, Claudio Semini, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell:
Torque-control based compliant actuation of a quadruped robot. AMC 2012: 1-6
[c4]
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Thiago Boaventura Cunha, Claudio Semini, Jonas Buchli, Marco Frigerio, Michele Focchi, Darwin G. Caldwell:
Dynamic torque control of a hydraulic quadruped robot. ICRA 2012: 1889-1894
[c3]
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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: 4066-4071
2010
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Michele Focchi, Emanuele Guglielmino, Claudio Semini, Thiago Boaventura Cunha, Yousheng Yang, Darwin G. Caldwell:
Control of a hydraulically-actuated quadruped robot leg. ICRA 2010: 4182-4188
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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: 2194-2199

Parts in Books or Collections

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2020
[p1]
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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. ECHORD++ 2020: 165-209

Informal and Other Publications

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2024
[i27]
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  - journals/corr/abs-2403-15142
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Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Marco Frego, Angelika Peer, Luigi Palopoli:
ALPINE: a climbing robot for operations in mountain environments. CoRR abs/2403.15142 (2024)
[i26]
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  - journals/corr/abs-2409-18641
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Michele Focchi, Daniele Fontanelli, Luigi Palopoli:
Pseudo-kinematic trajectory control of tracked vehicles. CoRR abs/2409.18641 (2024)
2023
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  - journals/corr/abs-2305-02107
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Michele Focchi, Francesco Roscia, Claudio Semini:
Locosim: an Open-Source Cross-Platform Robotics Framework. CoRR abs/2305.02107 (2023)
[i24]
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  - journals/corr/abs-2305-07748
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Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini:
Reactive Landing Controller for Quadruped Robots. CoRR abs/2305.07748 (2023)
[i23]
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  - journals/corr/abs-2309-07038
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Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli:
Efficient Reinforcement Learning for Jumping Monopods. CoRR abs/2309.07038 (2023)
2022
[i22]
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  - journals/corr/abs-2203-04434
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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 abs/2203.04434 (2022)
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  - journals/corr/abs-2205-06526
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Gennaro Raiola, Michele Focchi, Enrico Mingo Hoffman:
WoLF: the Whole-body Locomotion Framework for Quadruped Robots. CoRR abs/2205.06526 (2022)
[i20]
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  - journals/corr/abs-2207-10175
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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 abs/2207.10175 (2022)
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Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi:
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. CoRR abs/2208.12066 (2022)
[i18]
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  - journals/corr/abs-2209-09693
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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 abs/2209.09693 (2022)
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  - journals/corr/abs-2209-15566
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Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini:
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion. CoRR abs/2209.15566 (2022)
2021
[i16]
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  - journals/corr/abs-2105-05998
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Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad:
Mobility-enhanced MPC for Legged Locomotion on Rough Terrain. CoRR abs/2105.05998 (2021)
2020
[i15]
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  - journals/corr/abs-2003-05481
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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 abs/2003.05481 (2020)
[i14]
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  - journals/corr/abs-2011-07967
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Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini:
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion. CoRR abs/2011.07967 (2020)
2019
[i13]
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  - journals/corr/abs-1903-07999
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Romeo Orsolino, Michele Focchi, Stéphane Caron, Gennaro Raiola, Victor Barasuol, Claudio Semini:
Feasible Region: an Actuation-Aware Extension of the Support Region. CoRR abs/1903.07999 (2019)
[i12]
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  - journals/corr/abs-1904-03695
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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 abs/1904.03695 (2019)
[i11]
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  - journals/corr/abs-1904-04595
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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 abs/1904.04595 (2019)
[i10]
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  - journals/corr/abs-1904-04600
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Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences. CoRR abs/1904.04600 (2019)
[i9]
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  - journals/corr/abs-1904-12306
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Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, Claudio Semini:
STANCE: Locomotion Adaptation over Soft Terrain. CoRR abs/1904.12306 (2019)
[i8]
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  - journals/corr/abs-1910-06855
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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 abs/1910.06855 (2019)
2018
[i7]
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  - journals/corr/abs-1805-10238
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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 abs/1805.10238 (2018)
[i6]
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  - journals/corr/abs-1809-09759
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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 abs/1809.09759 (2018)
[i5]
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  - journals/corr/abs-1811-00884
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Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini:
Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain. CoRR abs/1811.00884 (2018)
2017
[i4]
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  - journals/corr/abs-1712-02731
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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 abs/1712.02731 (2017)
[i3]
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  - journals/corr/abs-1712-06833
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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 abs/1712.06833 (2017)
2016
[i2]
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  - journals/corr/FrigerioBFS16
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Marco Frigerio, Victor Barasuol, Michele Focchi, Claudio Semini:
Validation of computer simulations of the HyQ robot. CoRR abs/1604.06818 (2016)
2014
[i1]
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  - journals/corr/FocchiMCFSBC14
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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 abs/1406.4047 (2014)

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