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@ARTICLE{taseElbou25,
author={Bou, Cheikh Melainine El and Focchi, Michele and Chang, Michael and Camurri, Marco and Von Ellenrieder, Karl D.},
journal={IEEE Transactions on Automation Science and Engineering},
title={Smooth Human-Robot Shared Control for Autonomous Orchard Monitoring with UGVs},
year={2025},
volume={},
number={},
pages={1-1},
keywords={Robots;Trajectory;Collision avoidance;Mobile robots;Control systems;Trajectory tracking;Sensors;Robot kinematics;Asymptotic stability;Predictive models;Human-robot shared control;collision avoidance;trajectory tracking;field robotics;agricultural automation},
doi={10.1109/TASE.2025.3554368}}
@INPROCEEDINGS{adlerstein25icra,
author={Adlerstein, Michael and Soares, João Carlos Virgolino and Bratta, Angelo and Semini, Claudio},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
title={{SANDRO}: a Robust Solver with a Splitting Strategy for Point Cloud Registration},
year={2025}
note={accepted}
}
@ARTICLE{taouil25ral,
author={Taouil, Ilyass and Amatucci, Lorenzo and Khadiv, Majid and Dai, Angela and Barasuol, Victor and Turrisi, Giulio and Semini, Claudio},
journal={IEEE Robotics and Automation Letters},
title={Non-Gaited Legged Locomotion With Monte-Carlo Tree Search and Supervised Learning},
year={2025},
volume={10},
number={2},
pages={1265-1272},
doi={10.1109/LRA.2024.3519908}
}
@ARTICLE{focchi25ras,
author={Focchi, Focchi and Del Prete, Andrea and Fontanelli, Daniele and Frego, Marco and Peer, Angelika and Palopoli, Luigi},
title={ALPINE: a Climbing Robot for Operations in Mountain Environments},
journal={Robotics and Autonomous Systems (RAS)},
year={2025}
}
@ARTICLE{ordonez25ijrr,
author = {Ordoñez Apraez, Daniel and Turrisi, Giulio and Kostic, Vladimir and Martin, Mario and Agudo, Antonio and Moreno-Noguer, Francesc Pontil, Massimiliano and Semini, Claudio and Mastalli, Carlos},
title ={Morphological symmetries in robotics},
journal = {The International Journal of Robotics Research},
volume = {0},
number = {0},
pages = {1-24},
year = {2025},
doi = {10.1177/02783649241282422},
}
@INPROCEEDINGS{tefera24telepresence,
author = {Tefera, Yonas T. and Sarakoglou, Ioannis and Deore, Siddharth N. and Kim, Yaesol and Barasuol, Victor and Villa, Matteo and Anastasi, Sara and Caldwell, Darwin G. and Tsagarakis, Nikos and Semini, Claudio and Deshpande, Nikhil}
title = {ROBOT TELEOPERATIVO: Collaborative Cybernetic Systems for Immersive Remote Teleoperation},
booktitle={2024 IEEE Conference on Telepresence},
year = {2024}
}
@INPROCEEDINGS{santana2024,
author={Santana, Hilton Marques Souza and Virgolino Soares, João Carlos and Nisticò, Ylenia and Meggiolaro, Marco Antonio and Semini, Claudio},
booktitle={2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)},
title={Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions},
year={2024},
pages={213-220},
doi={10.1109/Humanoids58906.2024.10769911}
}
@INPROCEEDINGS{bussola24irim,
author = {Bussola, Riccardo and Focchi, Michele and Zilio, Nicola and Palopoli, Luigi and Fontanelli, Daniele},
title = {Distributed Robot Perception for Tracked Vehicles},
year = {2024},
booktitle = {I-RIM Conference}
}
@INPROCEEDINGS{su24iros,
author={Su, Zhi and Huang, Xiaoyu and Ordoñez-Apraez, Daniel and Li, Zhongyu and Liao, Qiayuan and Turrisi, Giulio and Pontil, Massimiliano and Semini, Claudio and Wu, Yi and Sreenath, Koushil},
title={Leveraging Symmetry in RL-based Legged Locomotion Control},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2024}
}
@INPROCEEDINGS{amatucci24iros,
author={Amatucci, Lorenzo and Turrisi, Giulio and Bratta, Angelo and Barasuol, Victor and Semini, Claudio},
title={Accelerating Model Predictive Control for Legged Robots through Distributed Optimization},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2024}
}
@INPROCEEDINGS{barasuol24iros,
author={Turrisi, Giulio, and Schulze, Lucas and Medeiros, Vivian S. and Semini, Claudio and Barasuol, Victor},
title={PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2024}
}
@INPROCEEDINGS{turrisi24iros,
author={Turrisi, Giulio, and Modugno, Valerio and Amatucci, Lorenzo and Kanoulas, Dimitrios and Semini, Claudio},
title={On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion},
booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2024}
}
@article{amatucci24jfr,
author={Amatucci, Lorenzo and Turrisi, Giulio and Bratta, Angelo and Barasuol, Victor and Semini, Claudio},
title={VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal},
journal={Journal of Field Robotics},
doi={https://doi.org/10.1002/rob.22350},
year={2024}
}
@INPROCEEDINGS{ordonez24l4dc,
author={Ordoñez-Apraez, Daniel and Kostic, Vladimir and Turrisi, Giulio and Novelli, Pietro and Mastalli, Carlos and Semini, Claudio and Pontil, Massimiliano},<br />
title={Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling},
booktitle={Proceedings of the 6th Annual Learning for Dynamics & Control Conference (PMLR)},
year={2024}
}
@INPROCEEDINGS{rad24mesa,
author={Rad, Amir H. and Villa, Matteo and Bratta, Angelo and Zuppi, Matteo and Semini, Claudio},
booktitle={IEEE/ASME MESA 2024 – 20th Int. Conference on Mechatronic, Embedded Systems and Applications},
title={Design of a Container Mechanism for Trash Collection on Quadruped Robots},
year={2024}
}
@INPROCEEDINGS{abati24ur,
author={Abati, Gabriel Fischer and Virgolino Soares, Joao Carlos and Suzano Medeiros, Vivian and Meggiolaro, Marco Antonio and Semini, Claudio},
booktitle={21st International Conference on Ubiquitous Robots (UR)},
title={Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation},
year={2024},
pages={01-08},
doi={10.1109/UR61395.2024.10597506}
}
@INPROCEEDINGS{bratta24ur,
author={Bratta, Angelo and Meduri, Avadesh and Focchi, Michele and Righetti, Ludovic and Semini, Claudio},
booktitle={21st International Conference on Ubiquitous Robots (UR)},
title={ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion},
year={2024},
pages={747-754},
doi={10.1109/UR61395.2024.10597477}
}
@INPROCEEDINGS{barasuol24icra,
author={Barasuol, Victor and Emre, Sinan and Suzano Medeiros, Vivian and Bratta, Angelo and Semini, Claudio},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
title={Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots},
year={2024}
}
@INPROCEEDINGS{gamba23irim,
AUTHOR = {Gamba, Juan D. and Arpenti, Pierluigi and Ruggiero, Fabio and Semini, Claudio},
TITLE = {An Effective Robotic End-Effector Engagement Approach for Automated Grapevine Pruning on a Quadrupedal Manipulator},
YEAR = {2023},
BOOKTITLE = {I-RIM Conference}
}
@INPROCEEDINGS{omar23humanoids,
author = {Omar, Shafeef and Amatucci, Lorenzo and Turrisi, Giulio and Barasuol, Victor and Semini, Claudio},
title = {SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors},
booktitle={IEEE-RAS International Conference on Humanoid Robots )},
year = {2023},
doi = {10.1109/Humanoids57100.2023.1037521}
}
@INPROCEEDINGS{parosi23iros,
title={Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators},
author={Riccardo Parosi and Mattia Risiglione and Darwin G. Caldwell and Claudio Semini and Victor Barasuol},
year={2023},
booktitle={{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
doi={10.1109/IROS55552.2023.10341714}
}
@INPROCEEDINGS{taouil23iros,
author = {Taouil, Ilyass and Turrisi, Giulio and Schleich, Daniel and Barasuol, Victor and Semini, Claudio and Behnke, Sven},
title = {Quadrupedal Footstep Planning using LearnedMotion Models of a Black-Box Controller},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems ({IROS})},
year = {2023},
doi={10.1109/IROS55552.2023.10342440}
}
@INPROCEEDINGS{barasuol23astra,
author={Barasuol, Victor and Villa, Matteo and Marchitto, Marco and Cerilli, Gianluca and Semini, Claudio},
title={Controlled Sliding Locomotion for Legged Rovers on Steep Terrain During Space Exploration},
booktitle={17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)},
year={2023}}
@Article{roscia23ral,
AUTHOR = {Roscia, Francesco and Focchi, Michele and Del Prete, Andrea and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Reactive Landing Controller for Quadruped Robots},
YEAR = {2023},
JOURNAL = {IEEE Robotics and Automation Letters (RA-L)},
VOLUME={8},
NUMBER={11},
PAGES={7210-7217},
DOI={10.1109/LRA.2023.3313919}
}
@article{guadagna23precision,
author = {Guadagna, P. and Fernandes, M. and Chen, F. and Santamaria, A. and Teng, Tao and Frioni, Tommaso and Caldwell, D. and Poni, S. and Semini, Claudio and Gatti, Matteo},
year = {2023},
month = {03},
pages = {1-23},
title = {Using deep learning for pruning region detection and plant organ segmentation in dormant spur-pruned grapevines},
volume = {24},
journal = {Precision Agriculture},
doi = {10.1007/s11119-023-10006-y}
}
@INPROCEEDINGS{focchi23clawar,
AUTHOR = {Focchi, Michele and Roscia, Francesco and Semini, Claudio},
BOOKTITLE = {Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems},
TITLE = {Locosim: an Open-Source Cross-PlatformRobotics Framework},
YEAR = {2024},
DOI = {10.1007/978-3-031-47272-5_33}
}
@INPROCEEDINGS{barasuol23clawar,
AUTHOR = {Barasuol, Victor and Emre, Sinan and Semini, Claudio},
BOOKTITLE = {Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems},
TITLE = {Stair-Climbing Charts: on the optimal body height for quadruped robots to walk on stairs},
YEAR = {2024},
DOI = {10.1007/978-3-031-47269-5_24}
}
@INPROCEEDINGS{milburn23icarsc,
author={Milburn, Lee and Gamba, Juan D. and Fernandes, Miguel and Semini, Claudio},
booktitle={IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)},
title={Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots},
year={2023},
pages={239-244},
doi={10.1109/ICARSC58346.2023.10129563}
}
@Article{gamba23ral,
Title = {A Springy Leg and a Double Backflip},
Author = {Gamba, Juan D. and Featherstone, Roy},
Journal = {IEEE Robotics and Automation Letters (RA-L)},
Year = {2023},
volume={8},
number={8},
pages={4657-4664},
doi={10.1109/LRA.2023.3287769}
}
@article{ordonez23rss,
author = {Ordonez-Apraez, Daniel and Martin, Mario and Agudo, Antonio and Moreno-Noguer, Francesc},
title = {On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis},
year = {2023},
publisher = {Robotics: Science and Systems Conference (RSS)}
}
@Article{fahmi23tro,
AUTHOR = {Fahmi, Shamel and Barasuol, Victor and Esteban, Domingo and Villarreal, Octavio and Semini, Claudio},
TITLE = {ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots},
JOURNAL = {IEEE Transactions on Robotics},
VOLUME = {39},
YEAR = {2023},
NUMBER = {2},
PAGES={885-904},
DOI = {10.1109/TRO.2022.3222958},
URL = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9966331}
}
@article{abdalla23tro,
author = {Abdalla, Abdelrahman and Focchi, Michele and Orsolino, Romeo and Semini, Claudio},
title = {An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion},
year = {2023},
journal = {IEEE Transactions on Robotics}
doi={10.1109/TRO.2023.3280431}
}
@PHDTHESIS{bratta23phd,
AUTHOR = {Bratta, Angelo},
TITLE = {Online Optimization-based Gait Adaptation of Quadruped Robot Locomotion},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2023},
OWNER = {phd}
}
@article{roscia23sensors,
AUTHOR = {Roscia, Francesco and Cumerlotti, Andrea and Del Prete, Andrea and Semini, Claudio and Focchi, Michele},
TITLE = {Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots},
JOURNAL = {Sensors},
VOLUME = {23},
YEAR = {2023},
NUMBER = {3},
ARTICLE-NUMBER = {1234},
URL = {https://www.mdpi.com/1424-8220/23/3/1234},
ISSN = {1424-8220},
DOI = {10.3390/s23031234}
}
@article{bratta23mdpi,
author= {Bratta, Angelo and Focchi, Michele and Rathod, Niraj and Semini, Claudio},
title = {Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots},
journal = {Robotics},
volume = {12},
number = {6},
year = {2023},
doi = {10.3390/robotics12010006}
}
@INPROCEEDINGS{omar22irim,
AUTHOR = {Omar, Shafeef and Amtucci, Lorenzo and Turrisi, Giulio and Barasuol, Victor and Semini, Claudio},
TITLE = {Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion},
YEAR = {2022},
BOOKTITLE = {I-RIM Conference},
PAGES={143-146},
DOI={110.5281/zenodo.7531324}
}
@INPROCEEDINGS{milburn22irim,
AUTHOR = {Milburn, Lee and Gamba, Juan and Semini, Claudio},
TITLE = {Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots},
YEAR = {2022},
BOOKTITLE = {I-RIM Conference},
PAGES={148-151},
DOI={10.5281/zenodo.7531328}
}
@INPROCEEDINGS{risiglione22iros,
author = {Risiglione, Mattia and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
title = {A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators},
publisher = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
year = {2022},
pages={9620-9627},
doi={10.1109/IROS47612.2022.9981895}
}
@INPROCEEDINGS{dettmann22astra,
author={Dettmann, Alexander and Planthaber, Steffen and Bargsten, Vinzenz and Dominguez, Raul and Cerilli, Gianluca and Marchitto, Marco and Fink, Geoff
and Focchi, Michele and Barasuol, Victor and Semini, Claudio and Marc, Robert},
title={Towards a Generic Navigation and Locomotion Control System for Legged Space Exploration},
booktitle={16th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)},
year={2022}}
@INPROCEEDINGS{amatucci2022icra,
author={Amatucci, Lorenzo and Kim, Joon-Ha and Hwangbo, Jemin and Park, Hae-Won },
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
title={Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control},
year={2022},
pages = {4701-4707},
doi= {10.1109/ICRA46639.2022.9812421}
}
@Article{nistico22sensors,
AUTHOR = {Nisticò, Ylenia and Fahmi, Shamel and Pallottino, Lucia and Semini, Claudio and Fink, Geoff},
TITLE = {On Slip Detection for Quadruped Robots},
JOURNAL = {Sensors},
VOLUME = {22},
YEAR = {2022},
NUMBER = {8},
ARTICLE-NUMBER = {2967},
URL = {https://www.mdpi.com/1424-8220/22/8/2967},
PubMedID = {35458952},
ISSN = {1424-8220},
ABSTRACT = {Legged robots are meant to autonomously navigate unstructured environments for applications like search and rescue, inspection, or maintenance. In autonomous navigation, a close relationship between locomotion and perception is crucial; the robot has to perceive the environment and detect any change in order to autonomously make decisions based on what it perceived. One main challenge in autonomous navigation for legged robots is locomotion over unstructured terrains. In particular, when the ground is slippery, common control techniques and state estimation algorithms may not be effective, because the ground is commonly assumed to be non-slippery. This paper addresses the problem of slip detection, a first fundamental step to implement appropriate control strategies and perform dynamic whole-body locomotion. We propose a slip detection approach, which is independent of the gait type and the estimation of the position and velocity of the robot in an inertial frame, that is usually prone to drift problems. To the best of our knowledge, this is the first approach of a quadruped robot slip detector that can detect more than one foot slippage at the same time, relying on the estimation of measurements expressed in a non-inertial frame. We validate the approach on the 90 kg Hydraulically actuated Quadruped robot (HyQ) from the Istituto Italiano di Tecnologia (IIT), and we compare it against a state-of-the-art slip detection algorithm.},
DOI = {10.3390/s22082967}
}
@INPROCEEDINGS{clemente22icra,
AUTHOR = {Clemente, Luca and Villarreal, Octavio and Bratta, Angelo and Focchi, Michele and Barasuol, Victor and Muscolo, Giovanni Gerardo and Semini, Claudio},
TITLE = {Foothold Evaluation Criterion for Dynamic Transition Feasibility for
Quadruped Robots},
YEAR = {2022},
BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},
PAGES = {4679-4685},
DOI = {10.1109/ICRA46639.2022.9812434}
}
@INPROCEEDINGS{semini21irim,
AUTHOR = {Semini, Claudio and Bratta, Angelo and Focchi, Michele and Gatti, Matteo and Poni, Stefano and Barasuol, Victor},
TITLE = {First Field Tests of a Legged Robot in a Vineyard},
YEAR = {2021},
BOOKTITLE = {I-RIM Conference}
}
@INPROCEEDINGS{bratta21irim,
AUTHOR = {Bratta, Angelo and Rathod, Niraj and Zanon, Mario and Villarreal, Octavio and Bemporad, Alberto and Semini, Claudio and Focchi, Michele},
TITLE = {Towards a Nonlinear Model Predictive Control for Quadrupedal Locomotion on Rough Terrain},
YEAR = {2021},
BOOKTITLE = {I-RIM Conference}
}
@misc{rathod21access,
title={Model Predictive Control with Environment Adaptation for Legged Locomotion},
author={Niraj Rathod and Angelo Bratta and Michele Focchi and Mario Zanon and Octavio Villarreal and Claudio Semini and Alberto Bemporad},
year={2021},
eprint={2105.05998},
archivePrefix={IEEE Access},
primaryClass={cs.RO}
volume={9},
number={},
pages={145710-145727},
doi={10.1109/ACCESS.2021.3118957}}
}
@Article{fahmi21lsens,
AUTHOR = {Fahmi, Shamel and Fink, Geoff and Semini, Claudio},
TITLE = {On State Estimation for Legged Locomotion over Soft Terrain},
JOURNAL = {{IEEE Sensors Letters (L-SENS)}},
YEAR = {2021},
MONTH = {Jan.},
VOLUME = {5},
NUMBER = {1},
PAGES = {1--4},
}
@INPROCEEDINGS{fernandes21cyber,
author={Fernandes, Miguel and Scaldaferri, Antonello and Fiameni, Giuseppe and Teng, Tao and Gatti, Matteo and Poni, Stefano and Semini, Claudio and Caldwell, Darwin and Chen, Fei},
booktitle={2021 IEEE 11th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)},
title={Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation},
year={2021},
pages={13-18},
doi={10.1109/CYBER53097.2021.9588303}
}
@Inbook{boaventura20springer,
author={Boaventura, Thiago and Semini, Claudio},
editor={Ang, Marcelo H. and Khatib, Oussama and Siciliano, Bruno},
title={Hydraulic Actuation},
booktitle={Encyclopedia of Robotics},
year={2020},
publisher={Springer Berlin Heidelberg},
pages={1--10},
isbn={978-3-642-41610-1},
doi={10.1007/978-3-642-41610-1_116-1}
}
@Inbook{semini20springer,
author={Semini, Claudio and Wieber, Pierre-Brice},
editor={Ang, Marcelo H. and Khatib, Oussama and Siciliano, Bruno},
title={Legged Robots},
bookTitle={Encyclopedia of Robotics},
year={2020},
publisher={Springer Berlin Heidelberg},
pages={1--8},
isbn={978-3-642-41610-1},
doi={10.1007/978-3-642-41610-1_59-1}
}
@INPROCEEDINGS{abdalla20irim,
AUTHOR = {Abdalla Abdelrahman and Focchi, Michele and Orsolino, Romeo and Semini, Claudio },
TITLE = {The Reachable Region: a Fast Kinematic Feasibility Criterion for Legged Locomotion},
YEAR = {2020},
BOOKTITLE = {I-RIM Conference}
}
@Article{mastalli20tro,
Author = {Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
Title = {Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control},
Journal = {{IEEE} Trans. Robot. ({T-RO})},
Year = {2020},
Pages = {1--14},
}
@ARTICLE{raiola20frontiers,
AUTHOR = {Raiola, Gennaro and Hoffman, Enrico Mingo and Focchi, Michele and Tsagarakis, Nikos and Semini, Claudio},
TITLE = {A simple yet effective whole-body locomotion framework for quadruped robots},
JOURNAL = {Frontiers in Robotics and AI},
YEAR = {2020},
URL = {https://www.frontiersin.org/articles/10.3389/frobt.2020.528473/full},
DOI = {10.3389/frobt.2020.528473},
}
@ARTICLE{orsolino19tro,
AUTHOR = {Orsolino, Romeo and Focchi, Michele and Caron Stéphane and Raiola, Gennaro and Barasuol, Victor and Darwin G. Caldwell and Semini, Claudio},
TITLE = {Feasible Region: an Actuation-Aware Extension of the Support Region},
JOURNAL = {{IEEE Transactions on Robotics (T-RO)}},
YEAR = {2020},
MONTH = {Aug.},
VOLUME = {36},
NUMBER = {4},
PAGES = {1239 - 1255},
}
@Article{fahmi2019tro,
Title = {{STANCE}: Locomotion Adaptation over Soft Terrain},
Author = {Fahmi, Shamel and Focchi, Michele and Radulescu, Andreea and Fink, Geoff and Barasuol, Victor and Semini, Claudio},
Journal = {{IEEE} Trans. Robot. ({T-RO})},
Year = {2019},
Month = {Oct.},
Pages = {1--15},
}
@Inbook{focchi2020star,
author={"Focchi, Michele and Orsolino, Romeo and Camurri, Marco and Barasuol, Victor and Mastalli, Carlos and Caldwell, Darwin G. and Semini, Claudio"},
title={Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality},
bookTitle={Advances in Robotics Research: From Lab to Market: ECHORD++: Robotic Science Supporting Innovation},
year={2020},
publisher= {Springer International Publishing},
pages={165--209},
isbn={978-3-030-22327-4},
doi={10.1007/978-3-030-22327-4_9},
url={https://doi.org/10.1007/978-3-030-22327-4_9}
}
@Article{fahmi2019ral,
Title = {Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain},
Author = {Fahmi, Shamel and Mastalli, Carlos and Focchi, Michele and Semini, Claudio},
Journal = {{IEEE} Robot. Automat. Lett. ({RA-L})},
Year = {2019},
Month = {Jul.},
Number = {3},
Pages = {2553--2560},
Volume = {4},
Doi = {10.1109/LRA.2019.2908502},
}
@ARTICLE{villarreal19ral,
author={Villarreal, Octavio and Barasuol, Victor and Camurri, Marco and Franceschi, Luca and Focchi, Michele and Pontil, Massimiliano and Caldwell, Darwin Gordon and Semini, Claudio},
journal={IEEE Robotics and Automation Letters},
title={Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs},
year={2019},
volume={},
number={},
pages={1-1},
video={https://www.youtube.com/watch?v=rxn79dPnaCI},
keywords={Legged locomotion;Robot sensing systems;Foot;Visualization;Trajectory;Legged Robots;Reactive and Sensor-Based Planning;Deep Learning in Robotics and Automation},
doi={10.1109/LRA.2019.2899434},
ISSN={2377-3766},
month={},}
@ARTICLE{frontiers18barasuol,
author = {Barasuol, Victor and Villarreal-Magaña, Octavio A. and Sangiah, Dhinesh and Frigerio, Marco and Baker, Mike and Morgan, Robert and Medrano-Cerda, Gustavo A. and Caldwell, Darwin Gordon and Semini, Claudio},
title = {Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds
for High-Bandwidth Force Control},
journal = {Frontiers in Robotics and AI},
volume = {5},
pages = {51},
year = {2018},
url = {https://www.frontiersin.org/article/10.3389/frobt.2018.00051},
doi = {10.3389/frobt.2018.00051},
issn = {2296-9144},
}
@INPROCEEDINGS{gonzalez20iros,
AUTHOR = {Gonzalez, Carlos and Barasuol, Victor and Frigerio, Marco and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
TITLE = {Line Walking and Balancing for Legged Robots with Point Feet},
YEAR = {2020},
}
@INPROCEEDINGS{fink20iros,
AUTHOR = {Fink, Geoff and Semini, Claudio},
BOOKTITLE = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
TITLE = {Proprioceptive Sensor Fusion for Quadruped Robot State Estimation},
PAGES = {1--7},
ADDRESS = {Las Vegas, Nevada},
MONTH = {Oct.},
YEAR = {2020},
}
@INPROCEEDINGS{esteban20clawar,
AUTHOR = {Esteban, Domingo and Villarreal, Octavio and Fahmi, Shamel and Semini, Claudio and Barasuol, Victor},
BOOKTITLE = {International Conference on Climbing and Walking Robots ({CLAWAR})},
TITLE = {{On the Influence of Body Velocity in Foothold Adaptation for Dynamic Legged Locomotion via CNNs}},
PAGES = {353-360},
ADDRESS = {Moscow, Russia},
MONTH = {Aug.},
YEAR = {2020},
}
@INPROCEEDINGS{fink20clawar,
AUTHOR = {Fink, Geoff and Semini, Claudio},
BOOKTITLE = {International Conference on Climbing and Walking Robots ({CLAWAR})},
TITLE = {The {DLS} Quadruped Proprioceptive Sensor Dataset},
PAGES = {1--8},
ADDRESS = {Moscow, Russia},
MONTH = {Aug.},
YEAR = {2020},
}
@InProceedings{bratta2020icra,
Title = {On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics},
Author = {Angelo {Bratta}, Romeo {Orsolino}, Michele {Focchi}, Victor {Barasuol}, Giovanni Gerardo {Muscolo} and Claudio {Semini}},
Booktitle = {Proc. {IEEE} Int. Conf. Robot. Automat. (ICRA)},
Year = {2020},
Month = {May},
Address = {Paris, France},
pages={1417-1423},
doi={10.1109/ICRA40945.2020.9196903}}
}
@InProceedings{villarreal2020icra,
Title = {MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion},
Author = {Octavio {Villarreal} and Victor {Barasuol} and Patrick {Wensing} and Claudio {Semini}},
Booktitle = {Proc. {IEEE} Int. Conf. Robot. Automat. (ICRA)},
Year = {2020},
Month = {May},
Address = {Paris, France},
}
@InProceedings{urbain2020,
Title = {Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot},
Author = {Gabriel {Urbain}, Victor {Barasuol}, Claudio {Semini}, Joni {Dambre} and Francis {wyffels}},
Booktitle = {Proc. {IEEE} Int. Conf. Robot. Automat. (ICRA)},
Year = {2020},
Month = May,
Address = {Paris, France},
}
@inproceedings{fink19iros,
author = {Geoff Fink, Claudio Semini},
title = {Proprioceptive Sensor Dataset for Quadrupeds},
month = {Nov},
pages = {1--5},
year = {2019},
maintitle = {Int. Conf. on Intell. Robots and Syst. (IROS)},
booktitle = {Workshop on Visual-Inertial Navigation: Challenges and Applications},
address = {Macao, China},
}
@INPROCEEDINGS{barasuol19clawar,
author={V. {Barasuol} and G. {Fink} and M. {Focchi} and D. G. {Caldwell} and C. {Semini}},
booktitle={International Conference on Climbing and Walking Robots (CLAWAR)},
title={On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots},
year={2019},
month={Oct},}
@INPROCEEDINGS{reinke19irc
AUTHOR = {A. {Reinke} and M. {Camurri} and C. {Semini},
BOOKTITLE = {2019 Third IEEE International Conference on Robotic Computing (IRC)},
TITLE = {A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots},
YEAR = {2019},
VOLUME = {},
NUMBER = {},
PAGES = {391-394},
}
@PATENT{focchi12,
NATIONALITY = {ARIPO, Eruasian, European},
NUMBER = {WO 2012/004738 Al},
YEAR = {2012},
YEARFILED = {2013},
AUTHOR = {Focchi, Michele and Guglielmino, Emanuele and Pane, Gianluca and Cordasco, Stefano and Tacchino, Carlo and Caldwell, Darwin G},
TITLE = {Device for generating electric power from a source of air or other gas or fluid under pressure},
__MARKEDENTRY = {[mfocchi:6]},
OWNER = {mfocchi},
TIMESTAMP = {2013.03.13},
}
@INPROCEEDINGS{focchi10iros,
author={M. {Focchi} and E. {Guglielmino} and C. {Semini} and A. {Parmiggiani} and N. {Tsagarakis} and B. {Vanderborght} and D. G. {Caldwell}},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={Water/air performance analysis of a fluidic muscle},
year={2010},
volume={},
number={},
pages={2194-2199},
keywords={flow control;fluidic devices;hydraulic systems;mobile robots;pneumatic actuators;pneumatic control equipment;water-air performance analysis;fluidic muscle;energetic point;higher bulk modulus;pressure bandwidth;force bandwidth;load variations;hydraulic stiff actuation system;hydraulic system pressure;water bulk modulus;unconventional pressure range;Muscles;Bandwidth;Valves;Force;Regulators;Robots;Pressure measurement},
doi={10.1109/IROS.2010.5650432},
ISSN={2153-0866},
month={Oct},}
@INPROCEEDINGS{focchi10icra,
author={M. {Focchi} and E. {Guglielmino} and C. {Semini} and T. {Boaventura} and Y. {Yang} and D. G. {Caldwell}},
booktitle={IEEE International Conference on Robotics and Automation},
title={Control of a hydraulically-actuated quadruped robot leg},
year={2010},
volume={},
number={},
pages={4182-4188},
keywords={hydraulic actuators;legged locomotion;mobile robots;motion control;hydraulically-actuated quadruped robot leg;autonomous quadruped robot;hip joints;knee joints;actuation system;proportional valves;asymmetric cylinders;PED controller;linear quadratic regulator;feedback linearisation controller;Legged locomotion;Leg;MIMO;Linear feedback control systems;Frequency;Biological system modeling;Biological control systems;Robots;Hip;Knee},
doi={10.1109/ROBOT.2010.5509697},
ISSN={1050-4729},
month={May},}
@PHDTHESIS{villarreal20phd,
AUTHOR = {Villarreal, Octavio},
TITLE = {Bridging Vision and Dynamic Legged Locomotion},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2020},
OWNER = {phd},
TIMESTAMP = {2020.03.30},
}
@PHDTHESIS{orsolino19phd,
AUTHOR = {Orsolino, Romeo},
TITLE = {Actuation-Aware Simplified Dynamic Models for Robotic Legged Locomotion},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2019},
OWNER = {phd}
}
@PHDTHESIS{gao18phd,
author = {Gao, Yifu},
title = {Towards the Design and Evaluation of Robotic Legs of Quadruped Robots},
school = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
year = {2018},
owner = {phd},
timestamp = {2017.09.29}
}
@ARTICLE{orsolino18ral,
author = {Orsolino, Romeo and Focchi, Michele and Mastalli, Carlos and Dai, Hongkai and Caldwell, G. D. and Semini, Claudio},
title = {Application of Wrench Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots},
booktitle = {IEEE Robotics and Automation Letters},
year = {2018},
video={https://youtu.be/vUx5b5kfRfE},
doi = {10.1109/LRA.2018.2836441}
}
@ARTICLE{raiola18ral,
author = {G. Raiola and C. A. Cardenas and T. S. Tadele and T. De Vries and S. Stramigioli},
title = {Development of a Safety and Energy Aware Impedance Controller for Collaborative Robots},
booktitle = {IEEE Robotics and Automation Letters},
doi = {10.1109/LRA.2018.2795639},
year = {2018},
video={https://www.youtube.com/watch?v=tFSSHXn5cGI}
}
@PHDTHESIS{camurri17phd,
author = {Camurri, Marco},
title = {Multisensory State Estimation and Mapping on Dynamic Legged Robots},
school = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
year = {2017},
owner = {phd},
timestamp = {2017.09.29}
}
@PHDTHESIS{mastalli17phd,
author = {Mastalli, Carlos},
title = {Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain},
school = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
year = {2017},
owner = {phd},
timestamp = {2017.09.29}
}
@ARTICLE{aceituno_mastalli17ral,
author = {Aceituno-Cabezas, Bernardo and Mastalli, Carlos and Dai, Hongkai and Focchi, Michele and Radulescu, Andreea and Caldwell, Dawrin G. and Cappelletto J. and Grieco, J. C. and Fernandez-Lopez G. and Semini, Claudio},
booktitle = {IEEE Robotics and Automation Letters},
title = {Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization},
doi={10.1109/LRA.2017.2779821},
year = {2017},
video={https://www.youtube.com/watch?v=RXIAQJx5938}
}
@ARTICLE{raiola17joss,
author = {Chitta, Sachin and Marder-Eppstein, Eitan and Meeussen, Wim and Pradeep, Vijay and Rodriguez Tsouroukdissian, Adolfo and Bohren, Jonathan and Coleman, David and Magyar, Bence and Raiola, Gennaro and Luedtke, Mathias and Fernandez Perdomo, Enrique},
booktitle = {The Journal of Open Source Software},
title = {ros_control: A generic and simple control framework for ROS},
year = {2017},
doi={10.21105/joss.00456}
}
@ARTICLE{giftthaler17advr,
author = {Giftthaler, Markus and Neunert, Micheal and Staeuble, Markus and Frigerio, Marco and Semini, Claudio and Buchli, Jonas},
booktitle = {Advanced Robotics},
title = {Automatic differentiation of rigid body dynamics for optimal control and estimation},
volume = {0},
number = {0},
pages = {1-13},
year = {2017},
publisher = {Taylor & Francis},
year = {2017},
URL = {http://dx.doi.org/10.1080/01691864.2017.1395361},
doi={10.1080/01691864.2017.1395361}
}
@ARTICLE{khan17sensors,
author = {Khan, Hamza and D'Imperio, Mariapaola and Cannella, Ferdinando and Caldwell, Darwin G. and Cuschieri, Alfred and Semini, Claudio},
booktitle = {Sensors},
title = {Towards Scalable Strain Gauge-Based Joint Torque Sensors},
year = {2017},
doi={10.3390/s17081905}
}
@INPROCEEDINGS{heijmink17humanoids,
author = {Heijmink, Elco and Radulescu, Andreea and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {12th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017},
title = {Learning Optimal Gait Parameters and Impedance Profiles for Legged Locomotion},
year = {2017}
}
@INPROCEEDINGS{focchi17iros,
author = {Focchi, Michele and Featherstone, Roy and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title = {Viscosity-based Height Reflex for Workspace Augmentation for Quadrupedal Locomotion on Rough Terrain},
year = {2017}
}
@INPROCEEDINGS{tournois17iros,
author = {Tournois, Guido and Focchi, Michele and del Prete, Andrea and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title = {Online Payload Identification for Quadruped Robots},
year = {2017}
}
@ARTICLE{dollar17ram,
author = {Dollar, A. and Semini, C. and Cho, K. and Ciocarlie M.},
booktitle = {IEEE Robotics and Automation Magazine},
title = {Bringing Together Researchers in Robot Mechanisms and Design},
year = {2017},
doi={10.1109/MRA.2016.2646069}
}
@ARTICLE{mattila17asme-tmech,
author = {Mattila, J. and Semini, C. and Moon, H. and Buchli, J.and Hyon, S. and Li, P.Y. and Yao, B.},
booktitle = {IEEE/ASME Transactions on Mechatronics},
title = {Guest editorial introduction to the focused section on design andcontrol of hydraulic robots},
year = {2017},
doi={10.1109/TMECH.2017.2668611},
url = {http://dx.doi.org/10.1109/TMECH.2017.2668611}
}
@INPROCEEDINGS{koivumaki17fpmc,
author = {Koivumaki, J. and Mattila, J. and Semini, Claudio and Caldwell, Darwin G.},
booktitle = {ASME Symposium on Fluid Power and Motion Control (FPMC)},
title = {Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures},
year = {2017}
}
@INPROCEEDINGS{gao17icarm,
author = {Gao, Yifu and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {International Conference on Advanced Robotics and Mechatronics (ICARM)},
title = {Kinematic Design of a Configurable Terrain Simulator Platform for Robotic Legs},
year = {2017}
}
@INPROCEEDINGS{frigerio17clawar,
author = {Frigerio, Marco and Barasuol, Victor and Focchi, Michiele and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)},
title = {Validation of Computer Simulations of the HyQ robot},
year = {2017}
}
@INPROCEEDINGS{nobili_camurri2017rss,
AUTHOR = {Nobili, S. and Camurri, M. and Barasuol, V. and Focchi, M. and Caldwell, D. G. and Semini, C. and Fallon, M.},
TITLE = {Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2017},
ADDRESS = {Boston, USA},
MONTH = {July}
}
@INPROCEEDINGS{rehman17clawar,
author = {Rehman, Bilal U and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)},
title = {Centaur Robots - a Survey},
year = {2017}
}
@INPROCEEDINGS{orsolino17clawar,
author = {Orsolino, Romeo and Focchi, Michele and Caldwell, Darwin G. and Semini,
Claudio},
booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)},
title = {A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding},
year = {2017}
}
@INPROCEEDINGS{mastalli17icra,
author = {Mastalli, Carlos and Focchi, Michele and Havoutis, Ioannis and Radulescu,
Andreea and Calinon, Sylvain and Buchli, Jonas and Caldwell, Darwin G. and Semini,
Claudio},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
title = {Trajectory and Foothold Optimization using Low-Dimensional Models for
Rough Terrain Locomotion},
year = {2017}
}
@INPROCEEDINGS{radulescu17icra,
author = {Radulescu, Andreea and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},
title = {Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2017}
}
@CONFERENCE{radulescu16hfr,
author = {Radulescu, Andreea and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},
title = {Optimization for Non-Periodic Dynamic Motions of Legged Systems},
journal = {Human Friendly Robotics},
year = {2016},
owner = {aradulescu},
timestamp = {2016.12.05}
}
@ARTICLE{mattila17tmech,
author={Mattila, Jouni and Koivumaki, Janne and Caldwell, Darwin G. and
Semini, Claudio},
journal={IEEE/ASME Transactions on Mechatronics},
title={A Survey on Control of Hydraulic Robotic Manipulators with
Projection to Future Trends},
year={2017},
volume={PP},
number={99},
pages={1-1},
keywords={Actuators;Legged locomotion;Manipulators;Service
robots;Stability analysis;force control;hydraulic manipulators;motion
control;performance evaluation;robotics},
doi={10.1109/TMECH.2017.2668604},
ISSN={1083-4435},
month={},}
@ARTICLE{camurri17ral,
author={M. Camurri and M. Fallon and S. Bazeille and A. Radulescu and V.
Barasuol and D. G. Caldwell and C. Semini},
journal={IEEE Robotics and Automation Letters},
title={Probabilistic Contact Estimation and Impact Detection for State
Estimation of Quadruped Robots},
year={2017},
volume={2},
number={2},
pages={1023-1030},
keywords={Estimation;Foot;Legged locomotion;Robot kinematics;Robot
sensing systems;Localization;multilegged robots;sensor fusion},
doi={10.1109/LRA.2017.2652491},
ISSN={2377-3766},
month={April},
}
@INPROCEEDINGS{neunert16simpar,
author = {Neunert, Michael and Giftthaler, Markus and Frigerio, Marco and Semini, Claudio and Buchli, Jonas},
title = {Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation},
booktitle = {IEEE International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)},
year = {2016}
}
@CONFERENCE{orsolino16hfr,
author = {Orsolino, Romeo and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
title = {An Asymmetric Model for Quadrupedal Bounding in Place},
journal = {Human Friendly Robotics},
year = {2016},
owner = {rorsolino},
timestamp = {2016.12.05}
}
@INPROCEEDINGS{gao16robio,
author = {Gao, Yifu and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
title = {Study on the Morphological Parameters of Quadruped Robot Designs Considering Ditch Traversability},
booktitle = {IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO)},
year = {2016}
}
@ARTICLE{tmech16semini,
author={Semini, Claudio and Barasuol, Victor and Goldsmith, Jake and Frigerio, Marco and Focchi, Michele and Gao, Yifu and Caldwell, Darwin G.},
journal={IEEE/ASME Transactions on Mechatronics},
title={Design of the Hydraulically-Actuated, Torque-Controlled Quadruped Robot HyQ2Max},
year={2016},
volume={PP},
number={99},
pages={1-1},
keywords={Actuators;Biological system modeling;Couplings;Legged locomotion;Mechatronics;Vehicle dynamics},
doi={10.1109/TMECH.2016.2616284},
ISSN={1083-4435}
}
@ARTICLE{frigerio2016robcogen,
author = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio },
title = {RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages},
journal = {Journal of Software Engineering for Robotics (JOSER)},
year = {2016},
date = {July},
volume = {7},
number = {1},
issue = {Special Issue on Domain-Specific Languages and Models for Robotic Systems},
pages = {36--54},
url={http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%5D=98}
}
@ARTICLE{focchi2016,
author="Focchi, Michele and del Prete, Andrea and Havoutis, Ioannis and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio",
title="High-slope terrain locomotion for torque-controlled quadruped robots",
journal="Autonomous Robots",
year="2017",
volume= "41",
number= "1",
pages="259-272",
doi="10.1007/s10514-016-9573-1",
url="http://dx.doi.org/10.1007/s10514-016-9573-1",
ISSN="1083-4435"
}
@ARTICLE{focchi16ctt,
author="Focchi, Michele and Medrano-Cerda, Gustavo A. and Boaventura, Thiago and Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.",
title="Robot impedance control and passivity analysis with inner torque and velocity feedback loops",
journal="Control Theory and Technology",
year="2016",
issn="2198-0942",
doi="10.1007/s11768-016-5015-z",
url="http://dx.doi.org/10.1007/s11768-016-5015-z"
}
@INPROCEEDINGS{icra16brehman,
author = {Rehman, Bilal U and Focchi, Michele and Lee, Jinoh and Dallali, Houman and Caldwell, Darwin G. and Semini, Claudio},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
title = {Towards a Multi-legged Mobile Manipulator},
month = may,
publisher = {IEEE},
year = {2016},
doi = {10.1109/ICRA.2016.7487545}
}