Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning

L Wellhausen, & M Hutter

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

C Della Santina, D Lakatos, A Bicchi, & A Albu-Schäffer

IEEE Control and Decision Conference (CDC21)


Natural Intelligence for Robotic Monitoring of Annex I Habitats: first steps in an unexplored world

D Gigante, F Angelini, C Angiolini, S Bagella, F Bonini, M Caccianiga, L De Simone, A Gabellini, G Rivieccio, B Valle, & M Garabini

In Debinski E, Diekmann M, Loidi J, Wiser S, Zelený D (Eds.) Book of Abstracts: 76. 63rd IAVS Symposium, Sept 20-23, 2021. International Association for Vegetation Science

A New Challenge From Artificial Intelligence: Robotic European Union Habitats Monitoring

S Bagella, F Angelini, C Angiolini, F Bonini, M Caccianiga, L De Simone, A Gabellini, D Gigante, S Maccherini, G Rivieccio, B Valle, & M Garabini

"Twenty years in the third millennium with Vegetation Science” 54th International Congress SISV, 28 and 29 September 2021

Towards Robotic Environmental Monitoring

F Angelini, R Mengacci, & M Garabini

I-RIM 3D (2021)

Controllability for Underactuated Compliant Arms

M Pierallini, F Angelini, & M Garabini

I-RIM 3D (2021)


Trajectory Tracking for Articulated Soft Robots: an Iterative Learning Control Approach

F Angelini, R Mengacci, M Pierallini, C Della Santina, MG Catalano, G Grioli, M Garabini, & A Bicchi

I-RIM 3D (2021)


Iterative Learning in Functional Space for Non-Square Linear Systems

C Della Santina, & F Angelini

IEEE Conference on Decision and Control (2021)


A Robust Iterative Learning Control for Continuous-Time Nonlinear Systems with Disturbances

M Pierallini, F Angelini, R Mengacci, A Palleschi, A Bicchi, & M Garabini

IEEE Access, (2021), 9, 147471-147480.

Adaptive Feet for Quadrupedal Walkers

MG Catalano, MJ Pollayil, G Grioli, G Valsecchi, H Kolvenbach, M Hutter, A Bicchi, & M Garabini

Transactions on Robotics (2021)

An Open-Source ROS-Gazebo Toolbox for Simulating Robots with Compliant Actuators

R Mengacci, G Zambella, G Grioli, D Caporale, MG Catalano, & A Bicchi

Frontiers in Robotics and AI (2021), 246

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

G Xin, S Xin, O Cebe, MJ Pollayil, F Angelini, M Garabini, S Vijayakumar, & M Mistry

IEEE Robotics and Automation Letters

Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case

LB Bonacchi, MA Roa, A Sesselmann, F Loeffl, A Albu-Schäffer, & C Della Santina

IEEE Robotics and Automation Letters, (2021), 6 (2), 2555-2562

Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions

C Della Santina, D Calzolari, AM Giordano, & A Albu-Schäffer

IEEE Robotics and Automation Letters, (2021), 6(2), 2783-2790.

PI σ-PI σ Continuous Iterative Learning Control for Nonlinear Systems with Arbitrary Relative Degree

L Cenceschi, F Angelini, C Della Santina, & A Bicchi

IEEE European Control Conference (2021)