IIT Publications Search

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
DOI 10.1177/02783649241282422 Note Journal
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
DOI 10.1109/IROS58592.2024.10801676 Conference Paper Conference
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
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., 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
DOI 10.1109/IROS58592.2024.10802439 Conference Paper Conference
2024
Taouil I., Amatucci L., Khadiv M., Dai A., Barasuol V., Turrisi G., Semini C.
Non-Gaited Legged Locomotion With Monte-Carlo Tree Search and Supervised Learning
IEEE Robotics and Automation Letters
DOI 10.1109/LRA.2024.3519908 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
IEEE International Conference on Intelligent Robots and Systems, pp. 13757-13764
DOI 10.1109/IROS58592.2024.10801698 Conference Paper Conference
2024
Turrisi G., Schulze L., Medeiros V.S., Semini C., Barasuol V.
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control
IEEE International Conference on Intelligent Robots and Systems, pp. 11139-11146
DOI 10.1109/IROS58592.2024.10801456 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.
Toward Faster Optimization for Legged Robots: A Distributed Approach
2024 IEEE International Conference on Robotics and Automation (ICRA)
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