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Publications

Publications

You can download a bibtex file containing all our publications here

International Journal Papers

[85] J. Mattila, J. Koivumaki, D. G. Caldwell, C. Semini, A Survey on Control of Hydraulic Robotic Manipulators with Projection to Future Trends, IEEE/ASME Transactions on Mechatronics, 1-1, 2017, View at publisher  -   Full paper  -  
BIBTEX citation
[84] M. Camurri, M. Fallon, S. Bazeille, A. Radulescu, V. Barasuol, D. G. Caldwell, C. Semini, Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots, IEEE Robotics and Automation Letters, 1023-1030, 2017, View at publisher  -   Full paper  -  
BIBTEX citation
[83] M. Focchi, A. del Prete, I. Havoutis, R. Featherstone, D. G. Caldwell, C. Semini, High-slope terrain locomotion for torque-controlled quadruped robots, Autonomous Robots, 259-272, 2017, View at publisher  -   Full paper  -  
BIBTEX citation
[82] C. Semini, V. Barasuol, J. Goldsmith, M. Frigerio, M. Focchi, Y. Gao, D. G. Caldwell, Design of the Hydraulically-Actuated, Torque-Controlled Quadruped Robot HyQ2Max, IEEE/ASME Transactions on Mechatronics, 1-1, 2016, View at publisher  -   Full paper  -  
BIBTEX citation
[81] M. Frigerio, J. Buchli, D. G. Caldwell, C. Semini, RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages, Journal of Software Engineering for Robotics (JOSER), 36--54, 2016, View at publisher  -   Full paper  -  
BIBTEX citation
[80] M. Focchi, G. A. Medrano-Cerda, T. Boaventura, M. Frigerio, C. Semini, J. Buchli, D. G. Caldwell, Robot impedance control and passivity analysis with inner torque and velocity feedback loops, Control Theory and Technology, 2016, View at publisher  -   Full paper  -  
BIBTEX citation
[79] T. Boaventura, J. Buchli, C. Semini, D. Caldwell, Model-Based Hydraulic Impedance Control for Dynamic Robots, Robotics, IEEE Transactions on, 1324-1336, 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[78] H. Dallali, G. A. Medrano-Cerda, M. Focchi, T. Boaventura, M. Frigerio, C. Semini, J. Buchli, D. Caldwell, On the use of positive feedback for improved torque control, Control Theory and Technology, 266-285, 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[77] B. Ugurlu, I. Havoutis, C. Semini, K. Kayamori, D. Caldwell, T. Narikiyo, Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ, Autonomous Robots, 415-437, 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[76] S. Bazeille, J. Ortiz, F. Rovida, M. Camurri, A. Meguenani, D. G. Caldwell, C. Semini, Active camera stabilization to enhance the vision of agile legged robots, Robotica, 1--19, 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[75] C. Semini, V. Barasuol, T. Boaventura, M. Frigerio, M. Focchi, D. G. Caldwell, J. Buchli, Towards versatile legged robots through active impedance control, The International Journal of Robotics Research (IJRR), 1003--1020, 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[74] S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, D. G. Caldwell, C. Semini, Quadruped robot trotting over irregular terrain assisted by stereo-vision, Intelligent Service Robotics, pp. 67-77, 2014, View at publisher  -   Full paper  -  
BIBTEX citation
[73] E. Kostamo, M. Focchi, E. Guglielmino, J. Kostamo, J. Buchli, M. Pietola, D. G. Caldwell, Magnetorheologically Damped Compliant Foot for Legged Robotic Application, Journal of Mechanical Design, pp. 021003-1/8, 2014, View at publisher  -   Full paper  -  
BIBTEX citation
[72] M. Camurri, R. Vezzani, R. Cucchiara, 3D Hough transform for sphere recognition on point clouds, Machine Vision and Applications, 1877-1891, 2014, View at publisher  -   Full paper  -  
BIBTEX citation
[71] C. Semini, N. G. Tsagarakis, E. Guglielmino, M. Focchi, F. Cannella, D. G. Caldwell, Design of HyQ - a Hydraulically and Electrically Actuated Quadruped Robot, IMechE Part I: Journal of Systems and Control Engineering, 831-849, 2011, View at publisher  -   Full paper  -  
BIBTEX citation

Dissertations


International Conference Papers

2017

[64] M. Focchi, R. Featherstone, R. Orsolino, D. G. Caldwell, C. Semini, Viscosity-based Height Reflex for Workspace Augmentation for Quadrupedal Locomotion on Rough Terrain, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017  -   Full paper  -  
BIBTEX citation
[59] S. Nobili, M. Camurri, V. Barasuol, M. Focchi, D. G. Caldwell, C. Semini, M. Fallon, Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots, Proceedings of Robotics: Science and Systems, 2017  -   Full paper  -  
BIBTEX citation
[57] R. Orsolino, M. Focchi, D. G. Caldwell, C. Semini, A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding, International Conference on Climbing and Walking Robots (CLAWAR), 2017  -   Full paper  -  
BIBTEX citation
[56] C. Mastalli, M. Focchi, I. Havoutis, A. Radulescu, S. Calinon, J. Buchli, D. G. Caldwell, C. Semini, Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion, IEEE International Conference on Robotics and Automation (ICRA), 2017  -   Full paper  -  
BIBTEX citation

2016

[54] M. Neunert, M. Giftthaler, M. Frigerio, C. Semini, J. Buchli, Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation, IEEE International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), 2016  -   Full paper  -  
BIBTEX citation
[52] B. U. Rehman, M. Focchi, J. Lee, H. Dallali, D. G. Caldwell, C. Semini, Towards a Multi-legged Mobile Manipulator, IEEE International Conference on Robotics and Automation (ICRA), 2016, View at publisher  -   Full paper  -  
BIBTEX citation
[51] H. Kuwahara, F. Terai, M. Focchi, G. A. Medrano-Cerda, D. G. Caldwell, C. Semini, A Design Method of A Robust Controller for Hydraulic Actuation with Disturbance Observers, IEEE International Workshop on Advanced Motion Control (AMC), 2016, View at publisher  -   Full paper  -  
BIBTEX citation
[50] C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences, IEEE International Conference on Robotics and Automation (ICRA), 2016, View at publisher  -   Full paper  -  
BIBTEX citation

2015

[48] I. Havoutis, D. G. Caldwell, C. Semini, Lidar-based navigation-level path planning for field-capable legged robots, International Conference on Climbing and Walking Robots (CLAWAR), 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[47] C. Semini, J. Goldsmith, D. Manfredi, F. Calignano, E. Ambrosio, J. Pakkanen, D. Caldwell, Additive manufacturing for agile legged robots with hydraulic actuation, International Conference on Advanced Robotics (ICAR), 123-129, 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[46] M. Camurri, S. Bazeille, D. Caldwell, C. Semini, Real-time depth and inertial fusion for local SLAM on dynamic legged robots, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 259-264, 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[45] M. Focchi, V. Barasuol, M. Frigerio, D. G. Caldwell, C. Semini, Slip Detection and Recovery for Quadruped Robots, International Symposium on Robotics Research (ISRR), 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[44] B. U. Rehman, M. Focchi, M. Frigerio, J. Goldsmith, D. G. Caldwell, C. Semini, Design of a Hydraulically Actuated Arm for a Quadruped Robot, Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR), 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[43] C. Semini, J. Goldsmith, B. U. Rehman, M. Frigerio, V. Barasuol, M. Focchi, D. G. Caldwell, Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur, 14th Scandinavian International Conference on Fluid Power (SICFP), 2015  -   Full paper  -  
BIBTEX citation
[42] H. Khan, S. Kitano, M. Frigerio, M. Camurri, V. Barasuol, R. Featherstone, D. G. Caldwell, C. Semini, Development of the Lightweight Hydraulic Quadruped Robot - MiniHyQ, IEEE International Conference on Technologies for Practical Robot Applications (TEPRA), 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[41] C. Mastalli, A. Winkler, I. Havoutis, D. G. Caldwell, C. Semini, On-line and On-board Planning and Perception for Quadrupedal Locomotion, IEEE International Conference on Technologies for Practical Robot Applications (TEPRA), 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[40] A. Winkler, C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain, IEEE International Conference on Robotics and Automation (ICRA), 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[39] H. Khan, F. Cannella, D. Caldwell, C. Semini, An innovative torque sensor design for the lightest hydraulic quadruped robot, International Conference on Climbing and Walking Robots (CLAWAR), 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[38] H. Khan, R. Featherstone, D. G. Caldwell, C. Semini, Bio-inspired Knee Joint Mechanism for a Hydraulic Quadruped Robot, International Conference on Automation, Robotics and Applications (ICARA), 2015, View at publisher  -   Full paper  -  
BIBTEX citation
[36] V. Barasuol, M. Camurri, S. Bazeille, D. Caldwell, C. Semini, Reactive Trotting with Foot Placement Corrections through Visual Pattern Classification, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, View at publisher  -   Full paper  -  
BIBTEX citation

2014

[35] S. Bazeille, M. Camurri, J. Ortiz, I. Havoutis, D. G. Caldwell, C. Semini, Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot, ICRA14 Workshop on Modelling, Estimation, Perception and Control of All Terrain Mobile Robots (WMEPC14), 2014, View at publisher  -   Full paper  -  
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[34] A. Winkler, I. Havoutis, S. Bazeille, J. Ortiz, M. Focchi, D. G. Caldwell, C. Semini, Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots, IEEE International Conference on Robotics and Automation (ICRA), 2014, View at publisher  -   Full paper  -  
BIBTEX citation

2013

[33] S. Zapoilsky, E. Drumwright, I. Havoutis, J. Buchli, C. Semini, Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces, 16th International Conference on Climbing and Walking Robots (CLAWAR), 2013, View at publisher  -   Full paper  -  
BIBTEX citation
[31] B. Ugurlu, I. Havoutis, C. Semini, D. G. Caldwell, Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, View at publisher  -   Full paper  -  
BIBTEX citation
[30] I. Havoutis, J. Ortiz, S. Bazeille, V. Barasuol, C. Semini, D. G. Caldwell, Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ), IEEE/RSJ International Conference on Intelligent Robotsand Systems (IROS), 2013, View at publisher  -   Full paper  -  
BIBTEX citation
[28] V. Barasuol, J. Buchli, C. Semini, M. Frigerio, E. R. De Pieri, D. G. Caldwell, A Reactive Controller Framework for Quadrupedal Locomotion on Challenging Terrain, IEEE International Conference on Robotics and Automation (ICRA), 2554-2561, 2013, View at publisher  -   Full paper  -  
BIBTEX citation
[27] C. Semini, V. Barasuol, M. Frigerio, T. Boaventura, J. Buchli, Is Active Impedance the Key to a Breakthrough for Legged Robots?, International Symposium on Robotics Research (ISRR), 2013, View at publisher  -   Full paper  -  
BIBTEX citation
[26] M. Hutter, M. Bloesch, J. Buchli, C. Semini, S. Bazeille, L. Righetti, J. Bohg, AGILITY-Dynamic full body locomotion and manipulation with autonomous legged robots, IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 1--4, 2013, View at publisher  -   Full paper  -  
BIBTEX citation
[25] M. Focchi, V. Barasuol, I. Havoutis, J. Buchli, C. Semini, D. G. Caldwell, Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion, Int. Conf. on Climbing and Walking Robots (CLAWAR), 2013, View at publisher  -   Full paper  -  
BIBTEX citation
[24] T. Boaventura, G. Medrano-Cerda, C. Semini, J. Buchli, D. G. Caldwell, {Stability and performance of the compliance controller of the quadruped robot HyQ}, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1458-1464, 2013, View at publisher  -   Full paper  -  
BIBTEX citation
[23] S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, C. Semini, D. G. Caldwell, Vision enhanced reactive locomotion control for trotting on rough terrain, IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 1-6, 2013, View at publisher  -   Full paper  -  
BIBTEX citation

2012

[22] M. Focchi, T. Boaventura, C. Semini, M. Frigerio, J. Buchli, D. G. Caldwell, Torque-control Based Compliant Actuation of a Quadruped Robot, Proc. of the 12th IEEE Int. Workshop on Advanced Motion Control (AMC), 2012, View at publisher  -   Full paper  -  
BIBTEX citation
[21] C. Semini, H. Khan, M. Frigerio, T. Boaventura, M. Focchi, J. Buchli, D. G. Caldwell, Design and Scaling of Versatile Quadruped Robots, Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Baltimore, USA, pp. 273-280, 2012, View at publisher  -   Full paper  -  
BIBTEX citation
[20] S. Peng, D. T. Branson, E. Guglielmino, T. Boaventura, D. G. Caldwell, Performance Assessment of Digital Hydraulics in a Quadruped Robot Leg, Proceedings of the 11th Biennial Conference on Engineering Systems design and Analysis ESDA11, 2012, View at publisher  -   Full paper  -  
BIBTEX citation
[19] T. Boaventura, M. Focchi, M. Frigerio, J. Buchli, C. Semini, G. A. Medrano-Cerda, D. G. Caldwell, On the role of load motion compensation in high-performance force control, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, View at publisher  -   Full paper  -  
BIBTEX citation
[18] T. Boaventura, C. Semini, J. Buchli, M. Frigerio, M. Focchi, D. G. Caldwell, Dynamic Torque Control of a Hydraulic Quadruped Robot, IEEE International Conference in Robotics and Automation, 1889-1894, 2012, View at publisher  -   Full paper  -  
BIBTEX citation
[17] M. Frigerio, J. Buchli, D. G. Caldwell, Code Generation of Algebraic Quantities for Robot Controllers, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, View at publisher  -   Full paper  -  
BIBTEX citation

2010

[16] M. Focchi, E. Guglielmino, C. Semini, T. Boaventura, Y. Yang, D. G. Caldwell, Control of a Hydraulically-Actuated Quadruped Robot Leg, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010, View at publisher  -   Full paper  -  
BIBTEX citation
[15] C. Semini, N. G. Tsagarakis, E. Guglielmino, D. G. Caldwell, Design and Experimental Evaluation of a Hydraulically Actuated Robot Leg, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, View at publisher  -   Full paper  -  
BIBTEX citation
[14] T. Boaventura, C. Semini, E. Guglielmino, V. J. De Negri, Y. Yang, D. Caldwell, Gain Scheduling Control for the Hydraulic Actuation of the HyQ Robot Leg, ABCM Symposium Series in Mechatronics, 673 -- 682, 2010, View at publisher  -   Full paper  -  
BIBTEX citation
[13] Y. Yang, E. Guglielmino, J. S. Dai, T. Boaventura, D. G. Caldwell, Modeling of a novel 3-way rotary type electro-hydraulic valve, Proc. IEEE Int Information and Automation (ICIA) Conf, 1463--1468, 2010, View at publisher  -   Full paper  -  
BIBTEX citation

2008

[12] C. Semini, N. G. Tsagarakis, B. Vanderborght, Y. Yang, D. G. Caldwell, HyQ -- Hydraulically Actuated Quadruped Robot: Hopping Leg Prototype, Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 593-599, 2008, View at publisher  -  
BIBTEX citation

Symposia and workshops

2016


2014


2013

[7] M. Frigerio, C. Semini, J. Buchli, D. G. Caldwell, Challenges in the software architecture design for autonomous legged robots, Eighth workshop on Software Development and Integration in Robotics (ICRA SDIR VIII), 2013, View at publisher  -   Full paper  -  
BIBTEX citation

2012

[6] M. Frigerio, J. Buchli, D. G. Caldwell, Model based code generation for kinematics and dynamics computations in robot controllers, Seventh workshop on Software Development and Integration in Robotics (ICRA SDIR VII), 2012  -   Full paper  -  
BIBTEX citation

2011

[5] M. Frigerio, J. Buchli, D. G. Caldwell, A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms, 2nd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob), 2011  -   Full paper  -  
BIBTEX citation
[4] C. Semini, J. Buchli, M. Frigerio, T. Boaventura, M. Focchi, E. Guglielmino, F. Cannella, N. G. Tsagarakis, D. G. Caldwell, HyQ -- A Dynamic Locomotion Research Platform, Int.l Workshop on Bio-Inspired Robots, Nantes (France), 2011  -   Full paper  -  
BIBTEX citation

Book Chapters

[2] D. G. Caldwell, N. Tsagarakis, C. Semini, Mechanism and Structures: Humanoids and Quadrupeds, Bioinspired Approaches for Human-Centric Technologies, 133-153, 2014, View at publisher  -  
BIBTEX citation

Patents

[1] M. Focchi, E. Guglielmino, G. Pane, S. Cordasco, C. Tacchino, D. G. Caldwell, Device for generating electric power from a source of air or other gas or fluid under pressure, 2012  -  
BIBTEX citation

Last Updated on Monday, 09 October 2017 10:23

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