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Claudio Semini

Head of the Dynamic Legged Systems (DLS) research line
Researcher Tenure Track - Principal Investigator
Dynamic Legged Systems
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About

Claudio Semini (MSc 2005, PhD 2010) is the head of the Dynamic Legged Systems (DLS) lab at Istituto Italiano di Tecnologia (IIT) that developed a number of high-performance hydraulic robots, including HyQ, HyQ2Max, and HyQReal. 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. Claudio Semini is the author and co-author of more than 100 peer-reviewed publications in international journals and conferences and he received several awards for them. He is also a co-founder of the Technical Committee on Mechanisms and Design of the IEEE-RAS Society. He is/was the coordinator/partner of several EU-, National and Industrial projects (including HyQ-REAL, INAIL Teleop, Moog@IIT joint lab, ESA-ANT, etc). His research interests include the construction and control of highly dynamic and versatile legged robots for field application in real-world operations, locomotion, hydraulic drives, and others.


All Publications
2021
Takahashi C., Giuliani M., Lennox B., Hamel W.R., Stolkin R., Semini C.
Editorial: Robotics in Extreme Environments
Frontiers Robotics AI, vol. 8
Editorial Journal
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
2021
Fahmi S., Fink G., Semini C.
On State Estimation for Legged Locomotion over Soft Terrain
IEEE Sensors Letters, vol. 5, (no. 1), pp. 1-4
2020
Raiola G., Mingo Hoffman E., Focchi M., Tsagarakis N., Semini C.
A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots
Frontiers Robotics AI, vol. 7
Article Journal
2020
Orsolino R., Focchi M., Caron S., Raiola G., Barasuol V., Caldwell D.G., Semini C.
Feasible Region: An Actuation-Aware Extension of the Support Region
IEEE Transactions on Robotics, vol. 36, (no. 4), pp. 1239-1255