publications

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