HyQ Robot (IIT, Italy, 2007-present)

the HyQ project started in Spring 2007 with the beginning of my PhD studies at the Italian Institute of Technology in Genova, Italy. Click the above link for more information, pictures, videos, publications etc.

HyQ Robot version 1.1 of 2010

HyQ Robot (version 1.1, 2010)


official project website (link)


Water-Hydraulic valves (IIT, Italy, 2008-present)

CAD model of Water Hydraulic Valve (2009)

CAD model of Water Hydraulic Valve (2009)

this project focuses on the construction of a compact water-hydraulic valve.

official project website (link)


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.

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


Water Muscle (IIT, Italy, 2008-present)

under construction


ApriAlpha and ApriAttenda Robot (Toshiba, Japan, 2005-2006)

Researcher at Toshiba’s Research & Development Center, Kawasaki, Japan; I was a member of the Home Life Support Robot group and working on the implementation of force control for a robot arm.


FloatArm VI (Tokyo Tech, Japan, 2004-2005)

Visiting Researcher at the Hirose and Fukushima laboratory of the Tokyo Institute of Technology, Japan. I did my Master Thesis research on the sensory system and control of the FloatArm VI manipulator arm.


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.


SmartRob Competition (ETHZ, Switzerland, 2004)


FingerMouse II (ETHZ, Switzerland, 2001)

semester project