Top Publications
2023
Bratta A., Focchi M., Rathod N., Semini C.
Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots
Robotics, vol. 12, (no. 1)
2022
Clemente L., Villarreal O., Bratta A., Focchi M., Barasuol V., Muscolo G.G., Semini C.
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots
Proceedings - IEEE International Conference on Robotics and Automation, pp. 4679-4685
2021
Rathod N., Bratta A., Focchi M., Zanon M., Villarreal O., Semini C., Bemporad A.
Model Predictive Control with Environment Adaptation for Legged Locomotion
IEEE Access, vol. 9, pp. 145710-145727
2020
Bratta A., Orsolino R., Focchi M., Barasuol V., Muscolo G.G., Semini C.
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics
2020 International Conference on Robotics and Automation (ICRA)
Colleagues of Dynamic Legged Systems
