publications
Safe and Adaptive 3-D Locomotion via Constrained Task-Space Imitation Learning
J. Ding, T. L. Lam, L. Ge, J. Pang and Y. Huang
IEEE/ASME Transactions on Mechatronics
Robust Locomotion Exploiting Multiple Balance Strategies: An Observer-Based Cascaded Model Predictive Control Approach
J. Ding, L. Han, L. Ge, Y. Liu and J. Pang
IEEE/ASME Transactions on Mechatronics
Assessing An Energy-Based Control for the Soft Inverted Pendulum in Hamiltonian Form
G. Pagnanelli, M. Pierallini, F. Angelini and A. Bicchi
IEEE Control Systems Letters
Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots
JOONHO LEE, MARKO BJELONIC, ALEXANDER RESKE, LORENZ WELLHAUSEN, TAKAHIRO MIKI, AND MARCO HUTTER
Science Robotics Vol. 9
Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision
Learning to walk in confined spaces using 3D representation
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments
T. Tuna, J. Nubert, Y. Nava, S. Khattak and M. Hutter
IEEE Transactions on Robotics
Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning
A. Li, C. Yang, J. Frey, J. Lee, C. Cadena and M. Hutter
IEEE Robotics and Automation Letters
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning
SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators
Y. Ma, F. Farshidian and M. Hutter
2023 IEEE International Conference on Robotics and Automation (ICRA)
Elevation Mapping for Locomotion and Navigation using GPU
T. Miki, L. Wellhausen, R. Grandia, F. Jenelten, T. Homberger and M. Hutter
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Learning-based Localizability Estimation for Robust LiDAR Localization
J. Nubert, E. Walther, S. Khattak and M. Hutter
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
F. Jenelten, R. Grandia, F. Farshidian and M. Hutter
IEEE Transactions on Robotics
Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots
J. Nubert, S. Khattak and M. Hutter
International Conference on Robotics and Automation (ICRA)
Learning robust perceptive locomotion for quadrupedal robots in the wild
Miki, Takahiro; Lee, Joonho; Hwangbo, Jemin; Wellhausen, Lorenz ; Koltun, Vladlen; Hutter, Marco
Science Robotics 7(62)
Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised Learning
M. Stölzle, T. Miki, L. Gerdes, M. Azkarate and M. Hutter
IEEE Robotics and Automation Letters
Robust Jumping With an Articulated Soft Quadruped Via Trajectory Optimization and Iterative Learning
J. Ding, M. A. v. L. Sels, F. Angelini, J. Kober and C. D. Santina
IEEE Robotics and Automation Letters
Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds
A Provably Stable Iterative Learning Controller for Continuum Soft Robots
Pierallini Michele, Stella Francesco, Angelini Franco, Deutschmann Bastian, Hughes Josie, Bicchi Antonio, Garabini Manolo and Cosimo Della Santina
IEEE Robotics and Automation Letters
Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot
F. Bjelonic, A. Sachtler, A. Albu-Schäffer and C. D. Santina
IEEE Robotics and Automation Letters
Model and Control of R-Soft Inverted Pendulum
D. Caradonna, M. Pierallini, C. D. Santina, F. Angelini and A. Bicchi
IEEE Robotics and Automation Letters
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
Zhang Chong, Jin Jin, Frey Jonas, Rudin Nikita, Mattamala Aravena Matias Eduardo, Cadena Cesar, Hutter Marco
41st IEEE International Conference on Robotics and Automation (ICRA 2024)
SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments
Minimizing Energy Consumption of Elastic Robots in Repetitive Tasks
A. V. Vivas, A. Cherubini, M. Garabini, P. Salaris and A. Bicchi
IEEE Transactions on Systems
Iterative Learning Control for Compliant Underactuated Arms
M. Pierallini, F. Angelini, R. Mengacci, A. Palleschi, A. Bicchi and M. Garabini
IEEE Transactions on Systems
Inverse-Dynamics MPC via Nullspace Resolution
C. Mastalli, S. P. Chhatoi, T. Corbéres, S. Tonneau and S. Vijayakuma
IEEE Transactions on Robotics
EM-Act: A Modular Series Elastic Actuator for Dynamic Robots
R. k. M. Gopanunni, L. Martignetti, F. Iotti, A. Ranjan, F. Angelini and M. Garabini
IEEE Open Journal of the Industrial Electronics Society
Optimal Control for Articulated Soft Robots
S. P. Chhatoi, M. Pierallini, F. Angelini, C. Mastalli and M. Garabini
IEEE Transactions on Robotics
One small step for a robot, one giant leap for habitat monitoring: A structural survey of EU forest habitats with Robotically-mounted Mobile Laser Scanning (RMLS)
Leopoldo de Simone, Emanuele Fanfarillo, Simona Maccherini, Tiberio Fiaschi, Giuseppe Alfonso, Franco Angelini, Manolo Garabini, Claudia Angiolini
Ecological Indicators
Robotic monitoring of dunes: a dataset from the EU habitats 2110 and 2120 in Sardinia (Italy)
Franco Angelini, Mathew J Pollayil, Giovanni Rivieccio, Maria Carmela Caria, Simonetta Bagella, Manolo Garabini
Scientific Data
Robotic monitoring of Alpine screes: a dataset from the EU Natura2000 habitat 8110 in the Italian Alps
Franco Angelini, Mathew J Pollayil, Barbara Valle, Marina Serena Borgatti, Marco Caccianiga, Manolo Garabini
Scientific Data
Robotic monitoring of forests: a dataset from the EU habitat 9210* in the Tuscan Apennines (central Italy)
Mathew J Pollayil, Franco Angelini, Leopoldo de Simone, Emanuele Fanfarillo, Tiberio Fiaschi, Simona Maccherini, Claudia Angiolini, Manolo Garabini
Scientific Data
Robust jumping with an articulated soft quadruped via trajectory optimization and iterative learning
Jiatao Ding, Mees A van Löben Sels, Franco Angelini, Jens Kober, Cosimo Della Santina
IEEE Robotics and Automation Letters
Design Guidelines for Bioinspired Adaptive Foot for Stable Interaction With the Environment
Alok Ranjan, Franco Angelini, Thrishantha Nanayakkara, Manolo Garabini
IEEE/ASME Transactions on Mechatronics
Segmentation and identification of Mediterranean plant species
Parminder Kaur, Daniela Gigante, Marco Caccianiga, Simonetta Bagella, Claudia Angiolini, Manolo Garabini, Franco Angelini, Paolo Remagnino
International Symposium on Visual Computing
Robotic Monitoring of Habitats: The Natural Intelligence Approach
Franco Angelini, Pierangela Angelini, Claudia Angiolini, Simonetta Bagella, Fabio Bonomo, Marco Caccianiga, Cosimo Della Santina, Daniela Gigante, Marco Hutter, Thrishantha Nanayakkara, Paolo Remagnino, Diego Torricelli, Manolo Garabini
IEEE Access
Robotic monitoring of grasslands: a dataset from the EU Natura2000 habitat 6210* in the central Apennines (Italy)
Choosing stiffness and damping for optimal impedance planning
Mathew Jose Pollayil, Franco Angelini, Guiyang Xin, Michael Mistry, Sethu Vijayakumar, Antonio Bicchi, Manolo Garabini
IEEE Transactions on Robotics
Towards the Computational Assessment of the Conservation Status of a Habitat
X. Huy Manh, Daniela Gigante, Claudia Angiolini, Simonetta Bagella, Marco Caccianiga, Franco Angelini, Manolo Garabini & Paolo Remagnino
Computer Vision – ECCV 2022 Workshops
Legged locomotion over irregular terrains: State of the art of human and robot performance
Adriana Torres-Pardo, David Pinto-Fernández, Manolo Garabini, Franco Angelini, David Rodriguez-Cianca, Stefano Massardi, Jesús Tornero, Juan C Moreno, Diego Torricelli
Bioinspiration & Biomimetics
Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot
F Bjelonic, A Sachtler, A Albu-Schäffer, & C Della Santina
IEEE Robotics and Automation Letters
A Tapered Whisker-Based Physical Reservoir Computing System for Mobile Robot Terrain Identification in Unstructured Environments
Z Yu, S Perera, H Hauser, PRN Childs, & T Nanayakkara
IEEE Robotics and Automation Letters
A Semi-Supervised Reservoir Computing System Based on Tapered Whisker for Mobile Robot Terrain Identification and Roughness Estimation
Z Yu, SM Hadi Sadati, H Hauser, PRN Childs, and T Nanayakkara
IEEE Robotics and Automation Letters
Planning Natural Locomotion for Articulated Soft Quadrupeds
MJ Pollayil, C Della Santina, G Mesesan, J Englsberger, D Seidel, M Garabini, C Ott, A Bicchi, & A Albu-Schaffer
2022 International Conference on Robotics and Automation (ICRA)
Swing-Up of Underactuated Compliant Arms Via Iterative Learning Control
M Pierallini, F Angelini, A Bicchi, & M Garabini
IEEE Robotics and Automation Letters
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)
10.5281/zenodo.5900597
Controllability for Underactuated Compliant Arms
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)