publications

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

Mengacci R., Zambella G., Grioli G., Caporale D., Catalano M.G., and Bicchi A.

Frontiers in Robotics and AI

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

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

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, ...

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

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

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

IEEE Robotics and Automation Letters

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