@ARTICLE{khan17sensors, author = {Khan, Hamza and D'Imperio, Mariapaola and Cannella, Ferdinando and Caldwell, Darwin G. and Cuschieri, Alfred and Semini, Claudio}, booktitle = {Sensors}, title = {Towards Scalable Strain Gauge-Based Joint Torque Sensors}, year = {2017}, doi={10.3390/s17081905} } @INPROCEEDINGS{focchi17iros, author = {Focchi, Michele and Featherstone, Roy and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, title = {Viscosity-based Height Reflex for Workspace Augmentation for Quadrupedal Locomotion on Rough Terrain}, year = {2017} } @INPROCEEDINGS{tournois17iros, author = {Tournois, Guido and Focchi, Michele and del Prete, Andrea and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, title = {Online Payload Identification for Quadruped Robots}, year = {2017} } @ARTICLE{dollar17ram, author = {Dollar, A. and Semini, C. and Cho, K. and Ciocarlie M.}, booktitle = {IEEE Robotics and Automation Magazine}, title = {Bringing Together Researchers in Robot Mechanisms and Design}, year = {2017}, doi={10.1109/MRA.2016.2646069} } @ARTICLE{mattila17asme-tmech, author = {Mattila, J. and Semini, C. and Moon, H. and Buchli, J.and Hyon, S. and Li, P.Y. and Yao, B.}, booktitle = {IEEE/ASME Transactions on Mechatronics}, title = {Guest editorial introduction to the focused section on design andcontrol of hydraulic robots}, year = {2017}, doi={10.1109/TMECH.2017.2668611} } @INPROCEEDINGS{koivumaki17fpmc, author = {Koivumaki, J. and Mattila, J. and Semini, Claudio and Caldwell, Darwin G.}, booktitle = {ASME Symposium on Fluid Power and Motion Control (FPMC)}, title = {Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures}, year = {2017} } @INPROCEEDINGS{gao17icarm, author = {Gao, Yifu and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {International Conference on Advanced Robotics and Mechatronics (ICARM)}, title = {Kinematic Design of a Configurable Terrain Simulator Platform for Robotic Legs}, year = {2017} } @INPROCEEDINGS{frigerio17clawar, author = {Frigerio, Marco and Barasuol, Victor and Focchi, Michiele and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)}, title = {Validation of Computer Simulations of the HyQ robot}, year = {2017} } @INPROCEEDINGS{nobili_camurri2017rss, AUTHOR = {Nobili, S. and Camurri, M. and Barasuol, V. and Focchi, M. and Caldwell, D. G. and Semini, C. and Fallon, M.}, TITLE = {Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2017}, ADDRESS = {Boston, USA}, MONTH = {July}, NOTE = {to appear} } @INPROCEEDINGS{rehman17clawar, author = {Rehman, Bilal U and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)}, title = {Centaur Robots - a Survey}, year = {2017} } @INPROCEEDINGS{orsolino17clawar, author = {Orsolino, Romeo and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)}, title = {A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding}, year = {2017} } @INPROCEEDINGS{mastalli17icra, author = {Mastalli, Carlos and Focchi, Michele and Havoutis, Ioannis and Radulescu, Andreea and Calinon, Sylvain and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, title = {Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion}, year = {2017} } @INPROCEEDINGS{radulescu17icra, author = {Radulescu, Andreea and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio}, title = {Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2017} } @CONFERENCE{radulescu16hfr, author = {Radulescu, Andreea and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio}, title = {Optimization for Non-Periodic Dynamic Motions of Legged Systems}, journal = {Human Friendly Robotics}, year = {2016}, owner = {aradulescu}, timestamp = {2016.12.05} } @ARTICLE{mattila17tmech, author={Mattila, Jouni and Koivumaki, Janne and Caldwell, Darwin G. and Semini, Claudio}, journal={IEEE/ASME Transactions on Mechatronics}, title={A Survey on Control of Hydraulic Robotic Manipulators with Projection to Future Trends}, year={2017}, volume={PP}, number={99}, pages={1-1}, keywords={Actuators;Legged locomotion;Manipulators;Service robots;Stability analysis;force control;hydraulic manipulators;motion control;performance evaluation;robotics}, doi={10.1109/TMECH.2017.2668604}, ISSN={1083-4435}, month={},} @ARTICLE{camurri17ral, author={M. Camurri and M. Fallon and S. Bazeille and A. Radulescu and V. Barasuol and D. G. Caldwell and C. Semini}, journal={IEEE Robotics and Automation Letters}, title={Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots}, year={2017}, volume={2}, number={2}, pages={1023-1030}, keywords={Estimation;Foot;Legged locomotion;Robot kinematics;Robot sensing systems;Localization;multilegged robots;sensor fusion}, doi={10.1109/LRA.2017.2652491}, ISSN={2377-3766}, month={April}, } @INPROCEEDINGS{neunert16simpar, author = {Neunert, Michael and Giftthaler, Markus and Frigerio, Marco and Semini, Claudio and Buchli, Jonas}, title = {Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation}, booktitle = {IEEE International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)}, year = {2016} } @CONFERENCE{orsolino16hfr, author = {Orsolino, Romeo and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio}, title = {An Asymmetric Model for Quadrupedal Bounding in Place}, journal = {Human Friendly Robotics}, year = {2016}, owner = {rorsolino}, timestamp = {2016.12.05} } @INPROCEEDINGS{gao16robio, author = {Gao, Yifu and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio}, title = {Study on the Morphological Parameters of Quadruped Robot Designs Considering Ditch Traversability}, booktitle = {IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO)}, year = {2016} } @ARTICLE{tmech16semini, author={Semini, Claudio and Barasuol, Victor and Goldsmith, Jake and Frigerio, Marco and Focchi, Michele and Gao, Yifu and Caldwell, Darwin G.}, journal={IEEE/ASME Transactions on Mechatronics}, title={Design of the Hydraulically-Actuated, Torque-Controlled Quadruped Robot HyQ2Max}, year={2016}, volume={PP}, number={99}, pages={1-1}, keywords={Actuators;Biological system modeling;Couplings;Legged locomotion;Mechatronics;Vehicle dynamics}, doi={10.1109/TMECH.2016.2616284}, ISSN={1083-4435} } @ARTICLE{frigerio2016robcogen, author = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio }, title = {RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages}, journal = {Journal of Software Engineering for Robotics (JOSER)}, year = {2016}, date = {July}, volume = {7}, number = {1}, issue = {Special Issue on Domain-Specific Languages and Models for Robotic Systems}, pages = {36--54}, url={http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%5D=98} } @ARTICLE{focchi2016, author="Focchi, Michele and del Prete, Andrea and Havoutis, Ioannis and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio", title="High-slope terrain locomotion for torque-controlled quadruped robots", journal="Autonomous Robots", year="2017", volume= "41", number= "1", pages="259-272", doi="10.1007/s10514-016-9573-1", url="http://dx.doi.org/10.1007/s10514-016-9573-1", ISSN="1083-4435" } @ARTICLE{focchi16ctt, author="Focchi, Michele and Medrano-Cerda, Gustavo A. and Boaventura, Thiago and Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.", title="Robot impedance control and passivity analysis with inner torque and velocity feedback loops", journal="Control Theory and Technology", year="2016", issn="2198-0942", doi="10.1007/s11768-016-5015-z", url="http://dx.doi.org/10.1007/s11768-016-5015-z" } @INPROCEEDINGS{icra16brehman, author = {Rehman, Bilal U and Focchi, Michele and Lee, Jinoh and Dallali, Houman and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, title = {Towards a Multi-legged Mobile Manipulator}, month = may, publisher = {IEEE}, year = {2016}, doi = {10.1109/ICRA.2016.7487545} } @INPROCEEDINGS{kuwahara16acm, author = {Kuwahara, Hiroaki and Terai, Fujio and Focchi, Michele and Medrano-Cerda, Gustavo A. and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {IEEE International Workshop on Advanced Motion Control (AMC)}, title = {A Design Method of A Robust Controller for Hydraulic Actuation with Disturbance Observers}, month = {april}, publisher = {IEEE}, year = {2016}, doi = {10.1109/AMC.2016.7496365} } @INPROCEEDINGS{icra16mastalli, author = {Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, title = {Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences}, month = may, publisher = {IEEE}, year = {2016}, doi = {10.1109/ICRA.2016.7487664} } @INCOLLECTION{raey, author = {Caldwell, Darwin G. and Tsagarakis, Nikos and Semini, Claudio}, title = {Mechanism and Structures: Humanoids and Quadrupeds}, booktitle = {Bioinspired Approaches for Human-Centric Technologies}, publisher = {Springer International Publishing}, year = {2014}, editor = {Cingolani, Roberto}, pages = {133-153}, doi = {10.1007/978-3-319-04924-3_5}, isbn = {978-3-319-04923-6}, language = {English}, } @INPROCEEDINGS{liu15robio, author={Liu, Xin and Semini, Claudio and Poulakakis, Ioannis}, booktitle={IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO)}, title={Active Compliance Hybrid Zero Dynamics Control of Bounding on HyQ}, year={2015}, month={December}, doi={10.1109/ROBIO.2015.7418910} } @INPROCEEDINGS{havoutis15clawar, author={Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio}, booktitle={International Conference on Climbing and Walking Robots (CLAWAR)}, title={Lidar-based navigation-level path planning for field-capable legged robots}, year={2015}, month={December}, url={http://www.worldscientific.com/worldscibooks/10.1142/9820} } @ARTICLE{boaventura15tro, author={Boaventura, T. and Buchli, J. and Semini, C. and Caldwell, D.G.}, journal={Robotics, IEEE Transactions on}, title={Model-Based Hydraulic Impedance Control for Dynamic Robots}, year={2015}, volume={31}, number={6}, pages={1324-1336}, keywords={Dynamics;Force control;Hydraulic actuators;Impedance;Legged locomotion;Force control;hydraulics;impedance control;legged robots}, doi={10.1109/TRO.2015.2482061}, ISSN={1552-3098}, month={Dec} } @ARTICLE{dallali15ctt, year={2015}, issn={2095-6983}, journal={Control Theory and Technology}, volume={13}, number={3}, doi={10.1007/s11768-015-4146-y}, title={On the use of positive feedback for improved torque control}, url={http://dx.doi.org/10.1007/s11768-015-4146-y}, publisher={South China University of Technology and Academy of Mathematics and Systems Science, CAS}, keywords={Force-torque control; load motion compensation; decentralized control}, author={Dallali, Houman and Medrano-Cerda, Gustavo A. and Focchi, Michele and Boaventura, Thiago and Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, DarwinG.}, pages={266-285}, language={English} } @ARTICLE{ugurlu15ar, year={2015}, issn={0929-5593}, journal={Autonomous Robots}, volume={38}, number={4}, doi={10.1007/s10514-015-9422-7}, title={Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ}, publisher={Springer US}, keywords={Quadrupedal locomotion; Dynamic trot-walking; Active compliance; Pattern generation}, author={Ugurlu, Barkan and Havoutis, Ioannis and Semini, Claudio and Kayamori, Kana and Caldwell, DarwinG. and Narikiyo, Tatsuo}, pages={415-437}, language={English} } @INPROCEEDINGS{semini15icar, author={Semini, C. and Goldsmith, J. and Manfredi, D. and Calignano, F. and Ambrosio, E.P. and Pakkanen, J. and Caldwell, D.G.}, booktitle={International Conference on Advanced Robotics (ICAR)}, title={Additive manufacturing for agile legged robots with hydraulic actuation}, year={2015}, pages={123-129}, keywords={hydraulic systems;industrial robots;laser sintering;legged locomotion;rapid prototyping (industrial);DMLS;HyQ2Max;additive manufacturing;agile legged robots;direct metal laser sintering;hydraulic actuation;hydraulic quadruped robot;versatile legged robots;Electron tubes;Legged locomotion;Manifolds;Metals;Powders}, doi={10.1109/ICAR.2015.7251444}, month={July} } @ARTICLE{Bazeille15robo, author = {Bazeille,Stéphane and Ortiz,Jesus and Rovida,Francesco and Camurri,Marco and Meguenani,Anis and Caldwell,Darwin G. and Semini,Claudio}, title = {Active camera stabilization to enhance the vision of agile legged robots}, journal = {Robotica}, volume = {FirstView}, month = {11}, year = {2015}, issn = {1469-8668}, pages = {1--19}, numpages = {19}, doi = {10.1017/S0263574715000909}, URL = {http://journals.cambridge.org/article_S0263574715000909} } @INPROCEEDINGS{camurri15mfi, author={Camurri, M. and Bazeille, S. and Caldwell, D.G. and Semini, C.}, booktitle={IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)}, title={Real-time depth and inertial fusion for local SLAM on dynamic legged robots}, year={2015}, pages={259-264}, doi={10.1109/MFI.2015.7295818}, month={Sept} } @INPROCEEDINGS{focchi15isrr, booktitle = {International Symposium on Robotics Research (ISRR)}, author = {Focchi, Michele and Barasuol, Victor and Frigerio, Marco and Caldwell, Darwin G. and Semini, Claudio}, title = {Slip Detection and Recovery for Quadruped Robots}, year = {2015}, url = {http://www.springer.com/it/book/9783319609157?wt_mc=Internal.Event.1.SEM.ChapterAuthorCongrat} } @ARTICLE{semini15ijrr, author = {Semini, Claudio and Barasuol, Victor and Boaventura, Thiago and Frigerio, Marco and Focchi, Michele and Caldwell, Darwin G. and Buchli, Jonas}, title = {Towards versatile legged robots through active impedance control}, journal = {The International Journal of Robotics Research (IJRR)}, year = {2015}, volume = {34}, pages = {1003--1020}, number = {7}, owner = {csemini}, timestamp = {2015.05.23}, url = {http://ijr.sagepub.com/content/34/7/1003}, doi = {10.1177/0278364915578839} } @INPROCEEDINGS{rehman15clawar, Author = {Rehman, Bilal U and Focchi, Michele and Frigerio, Marco and Goldsmith, Jake and Caldwell, Darwin G. and Semini, Claudio}, Title = {Design of a Hydraulically Actuated Arm for a Quadruped Robot}, Booktitle = {Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR)}, year = {2015}, url={http://www.worldscientific.com/worldscibooks/10.1142/9820} } @INPROCEEDINGS{semini13isrr, author = {Semini, Claudio and Barasuol, Victor and Frigerio, Marco and Boaventura, Thiago and Buchli, Jonas}, title = {Is Active Impedance the Key to a Breakthrough for Legged Robots?}, booktitle = {International Symposium on Robotics Research (ISRR)}, year = {2013}, owner = {csemini}, timestamp = {2014.04.24}, doi={10.1007/978-3-319-28872-7_1} } @INPROCEEDINGS{semini15sicfp, author = {Semini, Claudio and Goldsmith, Jake and Rehman, Bilal U and Frigerio, Marco and Barasuol, Victor and Focchi, Michele and Caldwell, Darwin G.}, title = {Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur}, booktitle = {14th Scandinavian International Conference on Fluid Power (SICFP)}, year = {2015} } @INPROCEEDINGS{khan15tepra, author = {Khan, Hamza and Kitano, Satoshi and Frigerio, Marco and Camurri, Marco and Barasuol, Victor and Featherstone, Roy, and Caldwell, Darwin G. and Semini, Claudio }, booktitle = {IEEE International Conference on Technologies for Practical Robot Applications (TEPRA)}, title = {Development of the Lightweight Hydraulic Quadruped Robot - MiniHyQ}, month = may, year = {2015}, doi={10.1109/TePRA.2015.7219671} } @INPROCEEDINGS{mastalli15tepra, author = {Mastalli, Carlos and Winkler, Alexander and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {IEEE International Conference on Technologies for Practical Robot Applications (TEPRA)}, title = {On-line and On-board Planning and Perception for Quadrupedal Locomotion}, month = may, doi = {10.1109/TePRA.2015.7219685}, year = {2015} } @INPROCEEDINGS{winkler15icra, author = {Winkler, Alexander and Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio}, title = {Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, month = may, doi = {10.1109/ICRA.2015.7139916}, year = {2015} } @INPROCEEDINGS{khan15clawar, author = {Khan, Hamza and Cannella, Ferdinando and Caldwell, Darwin and Semini, Claudio}, title = {An innovative torque sensor design for the lightest hydraulic quadruped robot}, booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)}, year = {2015}, url = {http://www.worldscientific.com/worldscibooks/10.1142/9820} } @INPROCEEDINGS{khan15icara, title = {Bio-inspired Knee Joint Mechanism for a Hydraulic Quadruped Robot}, author = {Khan, Hamza and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio}, booktitle = {International Conference on Automation, Robotics and Applications (ICARA)}, year = {2015}, doi = {10.1109/ICARA.2015.7081168} } @INPROCEEDINGS{khan15sicfp, title = {Development of a lightweight on-board hydraulic system for a quadruped robot}, author = {Khan, Hamza and Satoshi, Kitano and Caldwell, Darwin G. and Semini, Claudio }, booktitle = {14th Scandinavian International Conference on Fluid Power (SICFP)}, year = {2015} } @INPROCEEDINGS{winkler14icra, author = {Winkler, Alexander and Havoutis, Ioannis and Bazeille, Stephane and Ortiz, Jesus and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio}, title = {Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2014}, doi = {10.1109/ICRA.2014.6907815} } @ARTICLE{bazeille14isr, author = {Bazeille, Stephane and Barasuol, Victor and Focchi, Michele and Havoutis, Ioannis and Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio}, title = {Quadruped robot trotting over irregular terrain assisted by stereo-vision}, journal = {Intelligent Service Robotics}, year = {2014}, volume = {vol. 7}, pages = {pp. 67-77}, owner = {mfocchi}, timestamp = {2014.11.24}, doi = {10.1007/s11370-014-0147-9} } @INPROCEEDINGS{bazeille14icraw, author = {Bazeille, Stephane and Camurri, Marco and Ortiz, Jesus and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio}, title = {Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot}, booktitle = {ICRA14 Workshop on Modelling, Estimation, Perception and Control of All Terrain Mobile Robots (WMEPC14)}, year = {2014}, doi = {10.1007/s11370-014-0147-9} } @CONFERENCE{barasuol14dw, author = {Barasuol, Victor and Buchli, Jonas and De Negri, Juliano Victor and De Pieri, Edson Roberto and Caldwell, Darwin G. and Semini, Claudio}, title = {On Trajectory Generation and Active Impedance for Running Trotting}, journal = {Dynamic Walking}, year = {2014}, owner = {vbarasuol}, timestamp = {2014.11.24} } @ARTICLE{kostamo14, author = {Kostamo, Esa and Focchi, Michele and Guglielmino, Emanuele and Kostamo, Jari and Buchli, Jonas and Pietola, Matti and Caldwell, Darwin G.}, title = {Magnetorheologically Damped Compliant Foot for Legged Robotic Application}, journal = {Journal of Mechanical Design}, year = {2014}, volume = {vol. 136}, pages = {pp. 021003-1/8}, __markedentry = {[mfocchi:6]}, owner = {mfocchi}, timestamp = {2014.11.24}, doi={10.1115/1.4025966} } @INPROCEEDINGS{hutter13agility, title={AGILITY-Dynamic full body locomotion and manipulation with autonomous legged robots}, author={Hutter, Marco and Bloesch, Michael and Buchli, Jonas and Semini, Claudio and Bazeille, Stephane and Righetti, Ludovic and Bohg, Jeannette}, booktitle={IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}, pages={1--4}, year={2013}, organization={IEEE}, doi = {10.1109/SSRR.2013.6719336} } @INPROCEEDINGS{boaventura13iros, author={Boaventura, T. and Medrano-Cerda, G.A. and Semini, C. and Buchli, J. and Caldwell, Darwin G.}, booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, title={{Stability and performance of the compliance controller of the quadruped robot HyQ}}, year={2013}, month={Nov}, pages={1458-1464}, keywords={compliance control;legged locomotion;stability;actuator bandwidth;cascade compliance controller;compliant behavior;compliant legged robot;contact point;environmental contacts;foot compliance;nested torque loop performance;passivity;quadruped robot HyQ;robot leg;stability analysis;virtual impedances;Actuators;Bandwidth;Damping;Legged locomotion;Springs;Torque}, doi={10.1109/IROS.2013.6696541}, ISSN={2153-0858}, } @CONFERENCE{frigerio13sdirviii, author = {Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.}, title = {Challenges in the software architecture design for autonomous legged robots}, booktitle = {Eighth workshop on Software Development and Integration in Robotics (ICRA SDIR VIII)}, year = {2013}, month = {May}, note = {accepted}, owner = {phd}, timestamp = {2013.04.22}, url = {http://robotics.unibg.it/tcsoft/sdir2013/slides/frigerio.pdf} } @INPROCEEDINGS{zapoilsky2013clawar, author = {Zapoilsky, Samuel and Drumwright, Evan and Havoutis, Ioannis and Buchli, Jonas and Semini, Claudio}, title = {Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces}, booktitle = {16th International Conference on Climbing and Walking Robots (CLAWAR)}, year = {2013}, address = {Sydney, Australia}, month = {July}, publisher = {World Scientific Publishing Company}, __markedentry = {[mfocchi:6]}, owner = {mfocchi}, timestamp = {2014.11.24}, url = {http://www.worldscientific.com/worldscibooks/10.1142/8913} } @INPROCEEDINGS{khan13clawar, title = {Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots}, author = {Khan, Hamza and Semini, Claudio and Barasuol, Victor and Caldwell, Darwin G.}, booktitle = { Int. Conf. on Climbing and Walking Robots (CLAWAR)}, year = {2013}, } @CONFERENCE{khan13amam, title = {Scaling of versatile quadruped robots for running trot}, author = {Khan, Hamza and Semini, Claudio and Caldwell, Darwin G.}, booktitle = {Int. Symp. Adaptive Motion of Animals and Machines (AMAM)}, year = {2013}, url = {http://www.worldscientific.com/worldscibooks/10.1142/8913} } @INPROCEEDINGS{ugurlu13iros, author = {Ugurlu, Barkan and Havoutis, Ioannis and Semini, Claudio and Caldwell, Darwin G.}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, title = {Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control}, year = {2013}, doi = {10.1109/IROS.2013.6697234} } @INPROCEEDINGS{havoutis13iros, author = {Havoutis, Ioannis and Ortiz, Jesus and Bazeille, Stephane. and Barasuol, Victor and Semini, Claudio and Caldwell, Darwin G.}, booktitle = {IEEE/RSJ International Conference on Intelligent Robotsand Systems (IROS)}, title = {Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ)}, year = {2013}, doi = {10.1109/IROS.2013.6697235} } @INPROCEEDINGS{havoutis13icm, author = {Havoutis, Ioannis and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.}, title = {Quadrupedal trotting with active compliance}, journal = {IEEE International Conference on Mechatronics (ICM)}, year = {2013}, doi = {10.1109/ICMECH.2013.6519112} } @INPROCEEDINGS{barasuol13icra, author = {Barasuol, Victor and Buchli, Jonas and Semini, Claudio and Frigerio, Marco and De Pieri, Edson Roberto and Caldwell, Darwin G.}, title = {A Reactive Controller Framework for Quadrupedal Locomotion on Challenging Terrain}, journal = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2013}, pages = {2554-2561}, month = {5}, doi = {10.1109/ICRA.2013.6630926}, owner = {vbarasuol}, timestamp = {2014.11.24} } @INPROCEEDINGS{barasuol15iros, title = {Reactive Trotting with Foot Placement Corrections through Visual Pattern Classification}, author = {Barasuol, Victor and Camurri, Marco and Bazeille, Stephane and Caldwell, Darwin and Semini, Claudio}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, month = {10}, year ={2015}, doi = {10.1109/IROS.2015.7354191} } @ARTICLE{camurri14, year={2014}, issn={0932-8092}, journal={Machine Vision and Applications}, volume={25}, number={7}, doi={10.1007/s00138-014-0640-3}, title={3D Hough transform for sphere recognition on point clouds}, url={http://dx.doi.org/10.1007/s00138-014-0640-3}, publisher={Springer Berlin Heidelberg}, keywords={3D Hough transform; Sphere detection; Randomized HT; Probabilistic HT}, author={Camurri, Marco and Vezzani, Roberto and Cucchiara, Rita}, pages={1877-1891}, language={English} } @INPROCEEDINGS{focchi2013a, author = {Focchi, Michele and Barasuol, Victor and Havoutis, Ioannis and Buchli, Jonas and Semini, Claudio and Caldwell, Darwin G.}, title = {Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion}, booktitle = {Int. Conf. on Climbing and Walking Robots (CLAWAR)}, year = {2013}, __markedentry = {[mfocchi:6]}, owner = {mfocchi}, timestamp = {2013.08.09}, url = {http://www.worldscientific.com/worldscibooks/10.1142/8913} } @PHDTHESIS{frigerio13phd, author = {Frigerio, Marco}, title = {Model--Based Code Generation for the Kinematics and the Dynamics of Articulated Robots}, school = {Istituto Italiano di Tecnologia (IIT) and University of Genova}, year = {2013}, owner = {phd}, timestamp = {2013.09.29} } @PHDTHESIS{phd16brehman, author = {Rehman, Bilal U}, title = {Design and Control of a Compact Hydraulic Manipulator for Quadruped Robots}, school = {Istituto Italiano di Tecnologia (IIT) and University of Genova}, year = {2016} } @INPROCEEDINGS{bazeille13tepra, author={Bazeille, S. and Barasuol, V. and Focchi, M. and Havoutis, I. and Frigerio, M. and Buchli, J. and Semini, C. and Caldwell, Darwin G.}, booktitle={IEEE International Conference on Technologies for Practical Robot Applications (TePRA)}, title={Vision enhanced reactive locomotion control for trotting on rough terrain}, year={2013}, month={April}, pages={1-6}, doi={10.1109/TePRA.2013.6556366}, ISSN={2325-0526}, } @INPROCEEDINGS{boaventura12iros, author = {Boaventura, Thiago and Focchi, Michele and Frigerio, Marco and Buchli, Jonas and Semini, Claudio and Medrano-Cerda, Gustavo A. and Caldwell, Darwin G.}, title = {On the role of load motion compensation in high-performance force control}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2012}, owner = {tboaventura}, timestamp = {2012.07.12}, doi = {10.1109/IROS.2012.6385953} } @INPROCEEDINGS{boaventura12icra, author = {Boaventura, Thiago and Semini, Claudio and Buchli, Jonas and Frigerio, Marco and Focchi, Michele and Caldwell, Darwin G.}, title = {Dynamic Torque Control of a Hydraulic Quadruped Robot}, booktitle = {IEEE International Conference in Robotics and Automation}, year = {2012}, pages = {1889-1894}, owner = {csemini}, timestamp = {2011.09.16}, doi = {10.1109/ICRA.2012.6224628} } @INPROCEEDINGS{frigerio12iros, author = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G.}, title = {Code Generation of Algebraic Quantities for Robot Controllers}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2012}, options = {maxnames=7}, owner = {phd}, timestamp = {2014.01.09}, doi = {10.1109/IROS.2012.6385694} } @PATENT{focchi2012, nationality = {ARIPO, Eruasian, European}, number = {WO 2012/004738 Al}, year = {2012}, yearfiled = {2013}, author = {Focchi, Michele and Guglielmino, Emanuele and Pane, Gianluca and Cordasco, Stefano and Tacchino, Carlo and Caldwell, Darwin G}, title = {Device for generating electric power from a source of air or other gas or fluid under pressure}, __markedentry = {[mfocchi:6]}, owner = {mfocchi}, timestamp = {2013.03.13} } @CONFERENCE{frigerio12sdirVII, author = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G.}, title = {Model based code generation for kinematics and dynamics computations in robot controllers}, booktitle = {Seventh workshop on Software Development and Integration in Robotics (ICRA SDIR VII)}, year = {2012}, month = {May}, options = {maxnames=7}, owner = {phd}, timestamp = {2014.01.09} } @INPROCEEDINGS{focchi12acm, author = {Focchi, Michele and Boaventura, Thiago and Semini, Claudio and Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G.}, title = {Torque-control Based Compliant Actuation of a Quadruped Robot}, booktitle = {Proc. of the 12th IEEE Int. Workshop on Advanced Motion Control (AMC)}, year = {2012}, owner = {mfocchi}, timestamp = {2012.02.24}, doi = {10.1109/AMC.2012.6197133} } @INPROCEEDINGS{semini12clawar, author = {Semini, Claudio and Khan, Hamza and Frigerio, Marco and Boaventura, Thiago and Focchi, Michele and Buchli, Jonas and Caldwell, Darwin G.}, title = {Design and Scaling of Versatile Quadruped Robots}, journal = {Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Baltimore, USA}, year = {2012}, pages = {pp. 273-280}, __markedentry = {[mfocchi:6]}, owner = {mfocchi}, timestamp = {2014.11.24}, url = {http://www.worldscientific.com/worldscibooks/10.1142/8546} } @INPROCEEDINGS{peng12, author = {Peng, Shuang and Branson, David T. and Guglielmino, Emanuele and Boaventura, Thiago and Caldwell, Darwin G.}, title = {Performance Assessment of Digital Hydraulics in a Quadruped Robot Leg}, booktitle = {Proceedings of the 11th Biennial Conference on Engineering Systems design and Analysis ESDA11}, year = {2012}, owner = {tboaventura}, timestamp = {2012.03.11}, doi = {10.1115/ESDA2012-82262} } @CONFERENCE{semini11bioinspnantes, author = {Semini, Claudio and Buchli, Jonas and Frigerio, Marco and Boaventura, Thiago and Focchi, Michele and Guglielmino, Emanuele and Cannella, Ferdinando and Tsagarakis, Nikos G. and Caldwell, Darwin G.}, title = {HyQ -- A Dynamic Locomotion Research Platform}, booktitle = {Int.l Workshop on Bio-Inspired Robots, Nantes (France)}, year = {2011}, owner = {csemini}, timestamp = {2011.09.16} } @CONFERENCE{boaventura11amam, author = {Boaventura, Thiago and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.}, title = {Actively-compliant Leg for Dynamic Locomotion}, booktitle = {Int. Symp. Adaptive Motion of Animals and Machines (AMAM)}, year = {2011}, owner = {csemini}, timestamp = {2011.09.15} } @ARTICLE{semini11HyQdesignJSCE, author = {Semini, Claudio and Tsagarakis, Nikos G. and Guglielmino, Emanuele and Focchi, Michele and Cannella, Ferdinando and Caldwell, Darwin G.}, title = {Design of HyQ - a Hydraulically and Electrically Actuated Quadruped Robot}, journal = {IMechE Part I: Journal of Systems and Control Engineering}, year = {2011}, volume = {225}, pages = {831-849}, number = {6}, owner = {CSemini}, timestamp = {2011.02.20}, doi={10.1177/0959651811402275} } @CONFERENCE{frigerio11kindsl, author = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. }, title = {A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms}, booktitle = {2nd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob)}, year = {2011}, month = {September}, keywords = {DSL, software, kinematics, dynamics, code generation, real time}, options = {maxnames=7}, owner = {phd}, timestamp = {2014.01.09} } @PHDTHESIS{semini10PhDthesis, author = {Semini, Claudio}, title = {HyQ -- Design and Development of a Hydraulically Actuated Quadruped Robot}, school = {Istituto Italiano di Tecnologia (IIT) and University of Genova}, year = {2010}, owner = {CSemini}, timestamp = {2010.09.12} } @PHDTHESIS{cunha13PhDthesis, author = {Boaventura, Thiago}, title = {Hydraulic Compliance Control of the Quadruped Robot HyQ}, school = {Istituto Italiano di Tecnologia (IIT) and University of Genova}, year = {2013}, owner = {CSemini} } @PHDTHESIS{focchi13PhDthesis, author = {Focchi, Michele}, title = {Strategies To Improve the Impedance Control Performance of a Quadruped Robot}, school = {Istituto Italiano di Tecnologia (IIT) and University of Genova}, year = {2013}, owner = {CSemini} } @PHDTHESIS{khan15phd, author = {Khan, Hamza}, title = {MiniHyQ - Development of a Lighweight Highly-Dynamic Hydraulic Quadruped Robot}, school = {Istituto Italiano di Tecnologia (IIT) and University of Genova}, year = {2015}, owner = {phd}, timestamp = {2013.09.29} } @INPROCEEDINGS{focchi10icra, author = {Focchi, Michele and Guglielmino, Emanuele and Semini, Claudio and Boaventura, Thiago and Yang, Yousheng and Caldwell, Darwin G.}, title = {Control of a Hydraulically-Actuated Quadruped Robot Leg}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)}, year = {2010}, owner = {CSemini}, timestamp = {2010.02.18}, doi = {10.1109/ROBOT.2010.5509697} } @INPROCEEDINGS{semini10iros, author = {Semini, Claudio and Tsagarakis, Nikos G. and Guglielmino, Emanuele and Caldwell, Darwin G.}, title = {Design and Experimental Evaluation of a Hydraulically Actuated Robot Leg}, booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2010}, owner = {CSemini}, timestamp = {2010.08.13}, doi = {10.1109/IROS.2010.5651548} } @INPROCEEDINGS{cunha10, author = {Boaventura, T. and Semini, C. and Guglielmino, E. and De Negri, V. J. and Yang, Y. and Caldwell, D.}, title = {Gain Scheduling Control for the Hydraulic Actuation of the HyQ Robot Leg}, booktitle = {ABCM Symposium Series in Mechatronics}, publisher = {ABCM - Brazilian Society of Mechanical Sciences and Engineering}, year = {2010}, editor = {De Negri, Victor Juliano and Perondi, Eduardo Adnr\E9 and Cunha, Mauro Andr\E9 Barbosa and Horikawa, Oswaldo}, volume = {4}, pages = {673 -- 682}, address = {Rio de Janeiro, RJ, Brazil}, note = {ISBN 978-85-85769-47-5}, jornal = {ABCM Symposium Series in Mechatronics}, owner = {tboaventura}, timestamp = {2012.03.11}, url = {http://www.abcm.org.br/pages/abcm_symposium_series_in_mechatronics_vol_4} } @INPROCEEDINGS{yang10, author = {Yang, Yousheng and Guglielmino, E. and Dai, J. S. and Boaventura, Thiago and Caldwell, Darwin G.}, title = {Modeling of a novel 3-way rotary type electro-hydraulic valve}, booktitle = {Proc. IEEE Int Information and Automation (ICIA) Conf}, year = {2010}, pages = {1463--1468}, doi = {10.1109/ICINFA.2010.5512286}, owner = {tboaventura}, timestamp = {2012.03.11}, } @INPROCEEDINGS{semini08HyQBioRob, author = {Semini, Claudio and Tsagarakis, Nikos G. and Vanderborght, Bram and Yang, Yousheng and Caldwell, Darwin G.}, title = {HyQ -- Hydraulically Actuated Quadruped Robot: Hopping Leg Prototype}, booktitle = {Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)}, year = {2008}, pages = {593-599}, owner = {CSemini}, timestamp = {2010.01.25}, doi = {10.1109/BIOROB.2008.4762913} }