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Claudio Semini

Head of the Dynamic Legged Systems (DLS) research line
Researcher Tenure Track - Principal Investigator
Dynamic Legged Systems
Phone
+39 010 2898 283
Research center
CCT@Morego
About
Claudio Semini is the head of IIT's Dynamic Legged Systems (DLS) lab. He holds an MSc degree from ETH Zurich in electrical engineering and information technology. He spent 2 years in Tokyo for his research: MSc thesis at the Hirose Lab at Tokyo Tech and staff engineer at the Toshiba R&D center in Kawasaki working on mobile service robotics. During his PhD and subsequent PostDoc at IIT, he developed the quadruped robot HyQ and worked on its control. Since 2012 he leads the DLS lab. His research focus lies on the construction and control of highly dynamic and versatile legged robots in real-world environments. He has published around 100 articles in journals and peer-reviewed conferences and received several awards for them. He is a co-founder and chair of the IEEE RAS Technical Committee on Robot Mechanisms and Design. He was the coordinator of the EU-funded ECHORD++ experiment HyQ-REAL (www.hyq-real.eu) and currently heads the IIT side of the Moog/IIT joint lab.
All Publications
2021
Urbain G., Barasuol V., Semini C., Dambre J., wyffels F.
Effect of compliance on morphological control of dynamic locomotion with HyQ
Autonomous Robots, vol. 45, (no. 3), pp. 421-434
DOI 10.1007/s10514-021-09974-9
2021
Fahmi S., Fink G., Semini C.
On State Estimation for Legged Locomotion over Soft Terrain
IEEE Sensors Letters
DOI 10.1109/LSENS.2021.3049954
Article Journal
2020
Raiola G., Mingo Hoffman E., Focchi M., Tsagarakis N., Semini C.
A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots
Frontiers in Robotics and AI, vol. 7, pp. 159
DOI 10.3389/frobt.2020.528473
Article Journal
2020
Focchi M., Orsolino R., Camurri M., Barasuol V., Mastalli C., Caldwell D.G., Semini C.
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
Springer Tracts in Advanced Robotics, vol. 132, pp. 165-209
DOI 10.1007/978-3-030-22327-4_9
2020
Semini C., Wieber PB.
Legged Robots
Encyclopedia of Robotics, Publisher: Springer
DOI 10.1007/978-3-642-41610-1
Book Chapter Book
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Colleagues of Dynamic Legged Systems
Victor Barasuol Researcher Dynamic Legged Systems
Niraj Rathod Affiliated Researcher Dynamic Legged Systems
Geoff Fink Post Doc Dynamic Legged Systems
Paolo Romeo Guest Student Dynamic Legged Systems
Ilaria Rapone Support Administrative Assistant Humanoids & Human Centered Mechatronics Human-Robot Interfaces and Physical Interaction Dynamic Legged Systems Soft Robotics for Human Cooperation and Rehabilitation
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