Publications

PhD Thesis

C. Semini, “HyQ – Design and Development of a Hydraulically Actuated Quadruped Robot,” PhD Thesis, Italian Institute of Technology and University of Genoa, Italy, 2010. (pdf) (pdf in high resolution)

 

Publications (Journals, Conferences, Workshops)  –

visit also www.iit.it/hyq  for a more up-to-date list

2015

  • C. Semini, J. Goldsmith, D. Manfredi, F. Calignano, E. Ambrosio, J. Pakkanen, D. Caldwell, Additive manufacturing for agile legged robots with hydraulic actuation, Advanced Robotics (ICAR), 2015 International Conference on, 123-129, 2015. [full paper]
  • C. Semini, V. Barasuol, T. Boaventura, M. Frigerio, M. Focchi, D. G. Caldwell, J. Buchli, Towards versatile legged robots through active impedance control, The International Journal of Robotics Research (IJRR), 2015. [full article]
  • C. Semini, J. Goldsmith, B. Ur Rehman, M. Frigerio, V. Barasuol, M. Focchi, D. G. Caldwell, Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur, The Fourteenth Scandinavian International Conference on Fluid Power (SICFP), 2015.
  • H. Khan, K. Satoshi, D. G. Caldwell, C. Semini, Development of a lightweight on-board hydraulic system for a quadruped robot, 14th Scandinavian International Conference on Fluid Power (SICFP), 2015.
  • C. Mastalli, A. Winkler, I. Havoutis, D. G. Caldwell, C. Semini, On-line and On-board Planning and Perception for Quadrupedal Locomotion, IEEE International Conference on Technologies for Practical Robot Applications (TEPRA), 2015.
  • A. Winkler, C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain, IEEE International Conference on Robotics and Automation (ICRA), 2015.
  • H. Khan, R. Featherstone, D. G. Caldwell, C. Semini, Bio-inspired Knee Joint Mechanism for a Hydraulic Quadruped Robot, International Conference on Automation, Robotics and Applications (ICARA), 2015.

2014

  • A. Winkler, I. Havoutis, S. Bazeille, J. Ortiz, M. Focchi, D. G. Caldwell, C. Semini, Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots, IEEE International Conference on Robotics and Automation (ICRA), 2014.
  • S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, D. G. Caldwell, C. Semini, Quadruped robot trotting over irregular terrain assisted by stereo-vision, Intelligent Service Robotics, pp. 67-77, 2014.
  • S. Bazeille, M. Camurri, J. Ortiz, I. Havoutis, D. G. Caldwell, C. Semini, Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot, ICRA14 Workshop on Modelling, Estimation, Perception and Control of All Terrain Mobile Robots (WMEPC14), 2014.
  • Victor Barasuol, Jonas Buchli, Victor Juliano De Negri, Edson Roberto De Pieri, Darwin G. Caldwell, Claudio Semini, On Trajectory Generation and Active Impedance for Running Trotting, Dynamic Walking, 2014.
  • E. Kostamo, M. Focchi, E. Guglielmino, J. Kostamo, J. Buchli, M. Pietola, D. G. Caldwell, Magnetorheologically Damped Compliant Foot for Legged Robotic Application, Journal of Mechanical Design, pp. 021003-1/8, 2014.

2013

  • C. Semini, V. Barasuol, T. Boaventura, M. Frigerio, J. Buchli, “Is Active Impedance the Key to a Breakthrough for Legged Robots?” International Symposium of Robotics Research (ISRR), 2013.
    [full article]
  • T. Boaventura, G.A. Medrano-Cerda, C. Semini, J. Buchli, D. G. Caldwell, “Stability and Performance of the Compliance Controller of the Quadruped Robot HyQ,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
    [full article]
  • I. Havoutis, J. Ortiz, S. Bazeille, V. Barasuol, C. Semini, D. G. Caldwell, “Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ),” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
    [full article]
  • B. Ugurlu, I. Havoutis, C. Semini, D. G. Caldwell, “Dynamic Trot-Walking with the Hydraulic Quadruped Robot – HyQ: Analytical Trajectory Generation and Active Compliance Control,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
    [full article]
  • V. Barasuol, J. Buchli, C. Semini, M. Frigerio, E. R. De Pieri, D. G. Caldwell, “A Reactive Controller Framework for Quadrupedal Locomotion on Challenging Terrain”, IEEE International Conference on Robotics and Automation (ICRA), 2013.
    [full article]
  • T. Boaventura, C. Semini, J. Buchli, D. G. Caldwell, “Mechanical and Control Design Issues in Hydraulic Compliance Control”, ext. abstract at the workshop on Design and Control of High-Performance Hydraulic Robots: Recent Advances and Perspectives at IEEE ICRA, 2013.
    [extended abstract]
  • M. Frigerio, C. Semini, D. G. Caldwell, J. Buchli, “Challenges in the software architecture design for autonomous legged robots”, ext. abstract for the 8th workshop on Software Development and Integration in Robotics (SDIR VIII) at IEEE ICRA, 2013.
    [extended abstract]
  • M Focchi, V. Barasuol, I. Havoutis, J. Buchli,  C. Semini, D. G. Caldwell, “Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion”, Int. Conf. on Climbing and Walking Robots (CLAWAR), 2013.
    [full article]
  • H. Khan, C. Semini, V. Barasuol, D. G. Caldwell, “Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots”,  Int. Conf. on Climbing and Walking Robots (CLAWAR), 2013.
    [full article]
  • S. Zapolsky, E. Drumwright, I. Havoutis, J. Buchli, C. Semini, “Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces”, Int. Conf. on Climbing and Walking Robots (CLAWAR), 2013.
    [full article]
  • M. A. Arain, I. Havoutis, C. Semini, J. Buchli, D. G. Caldwell, “A comparison of Search-based Planners for a Legged Robot. IEEE International Workshop on Robot Motion and Control (RoMoCo), 2013.
    [full article]
  • I. Havoutis, C. Semini, D. G. Caldwell, “Virtual model control for quadrupedal trunk stabilization”, Dynamic Walking, 2013.
    [extended abstract]
  • S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, C. Semini, D. G. Caldwell, “Vision Enhanced Reactive Locomotion Control for Trotting on Rough Terrain”, IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2013.
    [full article]
  • H. Khan, C. Semini, D. G. Caldwell, “Scaling of versatile quadruped robots for running trot”, Proceedings 6th International Symposium in Adaptive Motion of Animals and Machines (AMAM), 2013.
    [extended abstract]
  • I. Havoutis, C. Semini, J. Buchli, D. G. Caldwell, “Quadrupedal trotting with active compliance “, IEEE International Conference on Mechatronics (ICM), 2013.
    [full article]

2012

T. Boaventura, M. Focchi, M. Frigerio, J. Buchli, C. Semini, G. A. Medrano-Cerda, D. G. Caldwell, “On the role of load motion compensation in high-performance force control”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. (pdf)

I. Havoutis, C. Semini, J. Buchli and D.G. Caldwell, “Progress in quadrupedal trotting with active compliance”, Dynamic Walking 2012. (pdf)

C. Semini, H. Khan, M. Frigerio, T. Boaventura, M. Focchi, J. Buchli and D. G. Caldwell, “Design and Scaling of Versatile Quadruped Robots”, Int. Conf. on Climbing and Walking Robots (CLAWAR), 2012. (pdf)

T. Boaventura, C. Semini, J. Buchli, M. Frigerio, M. Focchi, D. G. Caldwell, “Dynamic Torque Control of a Hydraulic Quadruped Robot”, Proceedings IEEE International Conference on Robotics and Automation (ICRA), 2012. (pdf)

M. Focchi, T. Boaventura, C. Semini, M. Frigerio, J. Buchli, D. G. Caldwell, “Torque-control Based Compliant Actuation of a Quadruped Robot”, Proceedings of the 12th IEEE International Workshop on Advanced Motion Control (AMC), Sarajevo, Bosnia and Herzegovina, 2012.

 

2011

T. Boaventura, C. Semini, J. Buchli, D. G. Caldwell, “Actively-compliant leg for dynamic locomotion”, Proceedings 5th International Symposium in Adaptive Motion of Animals and Machines (AMAM), 2011. (pdf)

C. Semini, N. G. Tsagarakis, E. Guglielmino, M. Focchi, F. Cannella and D. G. Caldwell, “Design of HyQ – a Hydraulically and Electrically Actuated Quadruped Robot,” Proc. IMechE Vol. 225 Part I: J. Systems and Control Engineering, 2011.   (pdf, tex, link)

C. Semini, J. Buchli, M. Frigerio, T. Boaventura, M. Focchi, E. Guglielmino, F. Cannella, N. G. Tsagarakis and D. G. Caldwell, “HyQ – A Dynamic Locomotion Research Platform,” International Workshop on Bio-Inspired Robots, Nantes (France), April 2011. (pdf)

 

2010

M. Focchi, E. Guglielmino, C. Semini, T. B. Cunha, Y. S. Yang, D. G. Caldwell, “Control of a Hydraulically-Actuated Quadruped Robot Leg,” IEEE Int. Conf. on Robotics and Automation (ICRA), 2010.

H. Kogler, R. Scheidl, M. Ehrentraut, E. Guglielmino, C. Semini, D. G. Caldwell, “A compact hydraulic switching converter for robotic applications,“ FPMC 2010.

C. Semini, N. G. Tsagarakis, E. Guglielmino, D. G. Caldwell, “Design and Experimental Evaluation of the Hydraulically Actuated Prototype Leg of the HyQ Robot,” IEEE/RSJ Int. Conf. on Intelligent RObots and Systems (IROS), 2010.

M. Focchi, E. Guglielmino, C. Semini, A. Parmiggiani, N. G. Tsagarakis, B. Vanderborght and D. G. Caldwell, “Water/Air Performance Analysis of a Fluidic Muscle,” IEEE/RSJ Int. Conf. on Intelligent RObots and Systems (IROS), 2010.

Y. S. Yang, E. Guglielmino, C. Semini, J. Dai and D. G. Caldwell, “A 3-Way Valve-Controlled Spring Assisted Rotary Actuator,” IEEE/RSJ Int. Conf. on Intelligent RObots and Systems (IROS), 2010.

E. Guglielmino, C. Semini, H. Kogler, R. Scheidl and D. G. Caldwell, “Power Hydraulics – Switched Mode Control of Hydraulic Actuation,” IEEE/RSJ Int. Conf. on Intelligent RObots and Systems (IROS), 2010.

E. Guglielmino, F. Cannella, C. Semini, D. G. Caldwell, N. E. Nava Rodríguez and G. Vidal, ” A Vibration Study of a hydraulically-actuated legged machine,” IMECE 2010.

 

2009

B. Vanderborght, N. G. Tsagarakis, C. Semini, R. Van Ham, D. G. Caldwell, “MACCEPA 2.0: Adjustable Compliant Actuator with Stiffening Characteristic for Energy Efficient Hopping,” IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 544-549, 2009.

Y. S. Yang, C. Semini, E. Guglielmino, N. G. Tsagarakis, D. G. Caldwell, “Water vs. Oil Hydraulic Actuation for a Robot Leg,” IEEE Int. Conf. on Mechatronics and Automation (ICMA), 2009.

Y. S. Yang, C. Semini, N. G. Tsagarakis, E. Guglielmino, D. G. Caldwell, “Leg Mechanisms for Hydraulically Actuated Robots,” IEEE/RSJ Int. Conf. on Intelligent RObots and Systems (IROS), 2009.

E. Guglielmino, C. Semini, Y. S. Yang, D. G. Caldwell, H. Kogler, R. Scheidl, “Energy Efficient Fluid Power in Autonomous Legged Robotics,” ASME Dynamic Systems and Control Conference (DSCC), 2009.

T. B. Cunha, C. Semini, E. Guglielmino, V. J. De Negri, Y. S. Yang, D. G. Caldwell, “Gain Scheduling Control for the Hydraulic Actuation of the HyQ Robot Leg,” Int. Conf. of Mechanical Engineering (COBEM), 2009.

 

2008

C. Semini, N. G. Tsagarakis, B. Vanderborght, Y. S. Yang and D. G. Caldwell, “HyQ – Hydraulically Actuated Quadruped Robot: Hopping Leg Prototype,” IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics (BioRob), pp.593-599, 2008. (pdf, tex)

C. Semini, N. G. Tsagarakis, D. G. Caldwell, “Dynamic Tasks of a Hydraulically Actuated Quadruped Robot, ” Poster at Dynamic Walking Conference, Delft (The Netherlands), May 2008.

C. Semini, N. G. Tsagarakis, D. G. Caldwell, “Bio-Inspired Design of a Hydraulically Actuated Quadruped Robot [HyQ],” Poster at Robotics: Science and Systems (RSS) Conference, Zurich (Switzerland), June 2008.

Y. S. Yang, C. Semini, N. G. Tsagarakis, D. G. Caldwell, Y. Zhu, “Water hydraulics – A novel design of spool-type valves for enhanced dynamic performance,” IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM), pp. 1308-1314, 2008.

 

2005

S. Hirose, M. Onishi, A. Kawakami, C. Semini, “Float Arm VI: Wire-Driven Weight Compensation Mechanism with Single Pulleys”, Nippon Robotto Gakkai Gakujutsu Koenkai Yokoshu, Vol. 24, in Japanese, 2005. (link)

C. Semini, “Obstacle Avoidance for a Redundant Manipulator with Binary Tactile Sensors,” Master’s Thesis, Hirose Robotics Laboratory, Tokyo Institute of Technology, Japan, 2005.

 

Patents

 

E. Guglielmino, Y. Yang, G. Pane, C. Semini, D. G. Caldwell, “Servovalvola rotativa, particolarmente di tipo idraulico”, in Italian, 2009.