Achievements

Patents, open-source software, robots I helped build, and the experiments that came out of them. Click a thumbnail to watch the video on YouTube.

Legged robots

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  HyQ early results summary 2024
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  Landing strategy for quadrupeds 2023
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  Aliengo walking down a 45° ramp with a rope 2023
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  Loco-manipulation with a tele-operated centaur robot (INAIL project) 2023
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  Flywheels to control orientation during jumps 2023
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  HyQ crossing a relocated pallet with model predictive control 2021
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  Space exploration with legged robots 2020
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  HyQ trotting on foam 2020
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  HyQReal pulling a 3-ton airplane 2019
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  Crossing pallets with neural-network foothold planning 2019
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  HyQ on combined terrain (stones and ramp) with heuristic planning 2017
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  Height reflex 2017
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  HyQ with online payload identification 2017
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  HyQ stair climbing 2017
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  HyQ chimney climbing 2016
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  Early work on centaur robots 2016
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  Step reflex 2013
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  Magnetorheologically damped compliant foot 2012

Patents

• Cooperative system for aerial transport and manipulation (Sistema cooperativo per trasporto e manipolazione aerea)Patent page
• Microturbine, patent WO 2012/004738 2012Espacenet

Software

• 
  Locosim robotics framework Code on GitHub
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  WoLF whole-body locomotion framework Code on GitHub

Novel platforms

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  ALPINE climbing robot 2025
• ALPINE real prototype 2025Watch the video
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  Microturbine 2012

Wheeled and tracked vehicles

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  Shared control of wheeled vehicles for autonomous orchard exploration 2025
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  Slippage-aware controller for tracked vehicles 2025