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Claudio Semini

Head of the Dynamic Legged Systems (DLS) research line
Researcher Tenure Track - Principal Investigator
Dynamic Legged Systems
Research center
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
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
Fahmi S., Fink G., Semini C.
On State Estimation for Legged Locomotion over Soft Terrain
IEEE Sensors Letters
Article Journal
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
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
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