Pubblicazioni
2025
Elobaid M., Turrisi G., Rapetti L., Romualdi G., Dafarra S., Kawakami T., Chaki T., Yoshiike T., Semini C., Pucci D.
Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
IEEE Robotics and Automation Letters
Article in Press
Journal
2025
Apraez D.O., Turrisi G., Kostic V., Martin M., Agudo A., Moreno-Noguer F., Pontil M., Semini C., Mastalli C.
Morphological symmetries in robotics
International Journal of Robotics Research
2024
Amatucci L., Turrisi G., Bratta A., Barasuol V., Semini C.
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
IEEE International Conference on Intelligent Robots and Systems, pp. 12734-12741
2024
Amatucci L., Turrisi G., Bratta B., Barasuol V., Semini C.
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems
Conference Paper
Conference
2024
Leonardi A.T., Medeiros V.S., Semini C., Barasuol V.
A Hybrid Force/Impedance Motion Controller for Robust Quadruped Locomotion on Sandy, Slippery, and Collapsing Terrains
Lecture Notes in Networks and Systems, vol. 1115 LNNS, pp. 304-315
2024
Bratta A., Meduri A., Focchi M., Righetti L., Semini C.
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
2024 21st International Conference on Ubiquitous Robots, UR 2024, pp. 747-754
2024
Adlerstein M., Bratta A., Soares J. C. V., Dessy G. B., Fernandes M. I. F., Gatti M., Semini C.
Creating a Segmented Pointcloud of Grapevines by Combining Multiple Viewpoints Through Visual Odometry
Advancing Sustainable Food Systems through Agri-Robotics Innovations, ICRA 2024 Workshop
Abstract Report
Conference
2024
Rad A.H., Villa M., Bratta A., Zoppi M., Semini C.
Design of a Container Mechanism for Trash Collection on Quadruped Robots
MESA 2024 - 20th International Conference on Mechatronic, Embedded Systems and Applications, Proceedings
2024
Ordonez-Apraez D.F., Kostic V., Turrisi G., Novelli P., Mastalli C., Semini C., Pontil M.
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling
Proceedings of Machine Learning Research, vol. 242, pp. 1318-1329
Conference Paper
Conference
2024
Barasuol V., Villa M., Dessy G. B., Semini C.
Improved Design and Control for Sliding Locomotion for Legged Rovers on Steep Terrain during Space Exploration
75th International Astronautical Congress (IAC)
Conference Paper
Conference
2024
Fernandes M., Barasuol V., Gatti M., Semini C.
Integrating 2D Segmentation with 3D Point Clouds for Pruning Point Generation in Grapevine Winter Pruning
Workshop on Agricultural Robotics for a Sustainable Future (IROS 2024)
Abstract Report
Conference
2024
Barasuol V., Emre S., Medeiros V.S., Bratta A., Semini C.
Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots
Proceedings - IEEE International Conference on Robotics and Automation, pp. 3457-3463
2024
Omar S., Khadiv M., Barasuol V., Turrisi G., Semini C.
Learning to Climb Vertical Ladders with Quadruped using Carpal-Claw Design
IEEE RAS TC on Model-based Optimization for Robotics Virtual Poster Session and Networking Event 2024
Poster
Conference
2024
Su Z., Huang X., Ordoñez-Apraez D., Li Y., Li Z., Liao Q., Turrisi G., Pontil M., Semini C., Wu Y., Sreenath K.
Leveraging symmetry in RL-based legged locomotion control
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems
Conference Paper
Conference
2024
Su Z., Huang X., Ordonez-Apraez D., Li Y., Li Z., Liao Q., Turrisi G., Pontil M., Semini C., Wu Y., Sreenath K.
Leveraging Symmetry in RL-based Legged Locomotion Control
IEEE International Conference on Intelligent Robots and Systems, pp. 6899-6906