IIT Publications Search

Publications
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
Ordoñez-Apraez D., Kostic V., Turrisi G., Novelli P., Mastalli C., Semini C., Pontil M.
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling
Learning for Dynamics & Control Conference, vol. 242, (no. 1318-1329)
DOI 10.48550/arXiv.2312.07457 Article 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
Ordonez-Apraez D., Turrisi G., Kostic V., Martin M., Agudo A., Moreno-Noguer F., Pontil M., Semini C., Mastalli C.
Morphological symmetries in robotics
arXiv
DOI 10.48550/arXiv.2402.15552 Article Journal
2024
Turrisi G., Modugno V., Amatucci L., Kanoulas D., Semini C.
On the benefits of gpu sample-based stochastic predictive controllers for legged locomotion
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems
Conference Paper Conference
2024
Barasuol V., Turrisi G., Schulze L., Medeiros V. S., Semini C.
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems
Conference Paper Conference
2024
Barasuol V., Patanè L., Al Tawil D. O., Li Noce A., Turrisi G., Arena P., Semini C.
Preliminary Results of Simulating Sliding-based Locomotion for Planetary Exploration in Craters
2024 International Conference on Space Robotics
Poster Conference
2024
Amatucci L., Turrisi G., Bratta A., Barasuol V., Semini C.
VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal
Journal of Field Robotics
DOI 10.1002/rob.22350 Article Journal
2023
Taouil I., Turrisi G., Schleich D., Barasuol V., Semini C., Behnke S.
Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller
IEEE International Conference on Intelligent Robots and Systems, pp. 800-806
DOI 10.1109/IROS55552.2023.10342440 Conference Paper Conference
2023
Omar S., Amatucci L., Barasuol V., Turrisi G., Semini C.
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
IEEE-RAS International Conference on Humanoid Robots
DOI 10.1109/Humanoids57100.2023.10375218 Conference Paper Conference
2022
Omar S., Amatucci L., Turrisi G., Barasoul V., Semini C.
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion
4th Italian Conference in Robotics and Intelligent Machines (I-RIM)
Abstract Report Conference
2022
Turrisi G., Capotondi M., Gaz C., Modugno V., Oriolo G., De Luca A.D.
On-Line Learning for Planning and Control of Underactuated Robots with Uncertain Dynamics
IEEE Robotics and Automation Letters, vol. 7, (no. 1), pp. 358-365
DOI 10.1109/LRA.2021.3126899 Article Journal
2020
Turrisi G., Barros Carlos B., Cefalo M., Modugno V., Lanari L., Oriolo G.
Enforcing constraints over learned policies via nonlinear MPC: Application to the pendubot
IFAC Proceedings Volumes (IFAC-PapersOnline), vol. 53, pp. 9502-9507
DOI 10.1016/j.ifacol.2020.12.2426 Conference Paper Conference
2019
Capotondi M., Turrisi G., Gaz C., Modugno V., Oriolo G., De Luca A.
An Online Learning Procedure for Feedback Linearization Control without Torque Measurements
Proceedings of Machine Learning Research, vol. 100, pp. 1359-1368
Conference Paper Conference