Michele Focchi

Reactive Landing Controller for Quadruped Robots

May 12, 2023
Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini

* 8 pages, 5 figures, 2 tables, submitted to ral, accompanying video at https://youtu.be/KnmNbhkOKWI

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Locosim: an Open-Source Cross-Platform Robotics Framework

May 03, 2023
Michele Focchi, Francesco Roscia, Claudio Semini

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* 12 pages, 4 figures, 2 tables, submitted to Clawar 2023, for associated video see https://youtu.be/dgeDBpnnAag

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ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion

Sep 30, 2022
Angelo Bratta, Avadesh Meduri, Michele Focchi, Ludovic Righetti, Claudio Semini

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CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments

Sep 20, 2022
Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli

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* 6 pages

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Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots

Aug 25, 2022
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi

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* 6 pages, 9 figures, submitted to Humanoids 2022

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Governor: a Reference Generator for Nonlinear Model Predictive Control in Legged Robots

Jul 20, 2022
Angelo Bratta, Michele Focchi, Niraj Rathod, Mario Zanon, Alberto Bemporad, Claudio Semini

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WoLF: the Whole-body Locomotion Framework for Quadruped Robots

May 13, 2022
Gennaro Raiola, Michele Focchi, Enrico Mingo Hoffman

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Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots

Mar 08, 2022
Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini

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* 9 pages, 7 figures, accepted for presentation at the International Conference on Robotics and Automation (ICRA) 2022

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Mobility-enhanced MPC for Legged Locomotion on Rough Terrain

May 12, 2021
Niraj Rathod, Angelo Bratta, Michele Focchi, Mario Zanon, Octavio Villarreal, Claudio Semini, Alberto Bemporad

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* Video available on: https://www.dropbox.com/sh/mkr4pftcug6jlo7/AABNqu1AsGED2WSR8IqvaiUla?dl=0. Note: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible

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An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion

Nov 16, 2020
Abdelrahman Abdalla1, Michele Focchi, Romeo Orsolino, Claudio Semini

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* 17 pages, 13 figures, submitted to Transaction on Robotics

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