% Publications of Michele Focchi - https://mfocchi.github.io/Research/

@article{focchi26ras,
  author = {Focchi, Michele and Fontanelli, Daniele and Stocco, Davide and Bussola, Riccardo and Palopoli, Luigi},
  title = {Pseudo-Kinematic Trajectory Control and Planning of Tracked Vehicles},
  journal = {Robotics and Autonomous Systems},
  volume = {197},
  pages = {105282},
  year = {2026},
  doi = {10.1016/j.robot.2025.105282}
}

@article{elbou25tase,
  author = {El Bou, Cheikh Melainine and Focchi, Michele and Chang, Michael R. and Camurri, Marco and von Ellenrieder, Karl D.},
  title = {Smooth Human-Robot Shared Control for Autonomous Orchard Monitoring with {UGVs}},
  journal = {IEEE Transactions on Automation Science and Engineering},
  volume = {22},
  pages = {13603--13620},
  year = {2025},
  doi = {10.1109/TASE.2025.3554368}
}

@article{focchi25ras,
  author = {Focchi, Michele and Del Prete, Andrea and Fontanelli, Daniele and Frego, Marco and Peer, Angelika and Palopoli, Luigi},
  title = {{ALPINE}: a Climbing Robot for Operations in Mountain Environments},
  journal = {Robotics and Autonomous Systems},
  volume = {190},
  pages = {104999},
  year = {2025},
  doi = {10.1016/j.robot.2025.104999}
}

@article{bussola24sensors,
  author = {Bussola, Riccardo and Focchi, Michele and Del Prete, Andrea and Fontanelli, Daniele and Palopoli, Luigi},
  title = {Efficient Reinforcement Learning for {3D} Jumping Monopods},
  journal = {Sensors},
  volume = {24},
  number = {15},
  pages = {4981},
  year = {2024},
  doi = {10.3390/s24154981}
}

@article{roscia23ral,
  author = {Roscia, Francesco and Focchi, Michele and Del Prete, Andrea and Caldwell, Darwin G. and Semini, Claudio},
  title = {Reactive Landing Controller for Quadruped Robots},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  volume = {8},
  number = {11},
  pages = {7210-7217},
  year = {2023},
  doi = {10.1109/LRA.2023.3313919}
}

@article{abdalla23tro,
  author = {Abdalla, Abdelrahman and Focchi, Michele and Orsolino, Romeo and Semini, Claudio},
  title = {An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion},
  journal = {IEEE Transactions on Robotics},
  volume = {39},
  number = {5},
  pages = {3499--3515},
  year = {2023},
  doi = {10.1109/TRO.2023.3280431}
}

@article{roscia23sensors,
  author = {Roscia, Francesco and Cumerlotti, Andrea and Del Prete, Andrea and Semini, Claudio and Focchi, Michele},
  title = {Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots},
  journal = {Sensors},
  volume = {23},
  number = {3},
  year = {2023},
  doi = {10.3390/s23031234},
  url = {https://www.mdpi.com/1424-8220/23/3/1234},
  article-number = {1234}
}

@article{bratta23mdpi,
  author = {Bratta, Angelo and Focchi, Michele and Rathod, Niraj and Semini, Claudio},
  title = {Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots},
  journal = {Robotics},
  volume = {12},
  number = {6},
  year = {2023},
  doi = {10.3390/robotics12010006}
}

@article{rathod21access,
  author = {Rathod, Niraj and Bratta, Angelo and Focchi, Michele and Zanon, Mario and Villarreal, Octavio and Semini, Claudio and Bemporad, Alberto},
  title = {Model Predictive Control with Environment Adaptation for Legged Locomotion},
  journal = {IEEE Access},
  volume = {9},
  pages = {145710--145727},
  year = {2021},
  doi = {10.1109/ACCESS.2021.3118957}
}

@article{raiola20frontiers,
  author = {Raiola, Gennaro and Mingo Hoffman, Enrico and Focchi, Michele and Tsagarakis, Nikos and Semini, Claudio},
  title = {A simple yet effective whole-body locomotion framework for quadruped robots},
  journal = {Frontiers in Robotics and AI},
  volume = {7},
  year = {2020},
  doi = {10.3389/frobt.2020.528473},
  url = {https://www.frontiersin.org/articles/10.3389/frobt.2020.528473/full}
}

@article{orsolino20tro,
  author = {Orsolino, Romeo and Focchi, Michele and Caron, St{\'e}phane and Raiola, Gennaro and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
  title = {Feasible Region: an Actuation-Aware Extension of the Support Region},
  journal = {IEEE Transactions on Robotics},
  volume = {36},
  number = {4},
  pages = {1239--1255},
  year = {2020},
  doi = {10.1109/TRO.2020.2983318}
}

@article{fahmi20tro,
  author = {Fahmi, Shamel and Focchi, Michele and Radulescu, Andreea and Fink, Geoff and Barasuol, Victor and Semini, Claudio},
  title = {{STANCE}: Locomotion Adaptation over Soft Terrain},
  journal = {IEEE Transactions on Robotics},
  volume = {36},
  number = {2},
  pages = {443--457},
  year = {2020},
  doi = {10.1109/TRO.2019.2954670}
}

@inbook{focchi2020star,
  author = {"Focchi, Michele and Orsolino, Romeo and Camurri, Marco and Barasuol, Victor and Mastalli, Carlos and Caldwell, Darwin G. and Semini, Claudio"},
  title = {Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality},
  booktitle = {Advances in Robotics Research: From Lab to Market: ECHORD++: Robotic Science Supporting Innovation},
  pages = {165--209},
  year = {2020},
  publisher = {Springer International Publishing},
  doi = {10.1007/978-3-030-22327-4_9},
  url = {https://doi.org/10.1007/978-3-030-22327-4_9},
  isbn = {978-3-030-22327-4}
}

@article{mastalli20tro,
  author = {Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
  title = {Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control},
  journal = {{IEEE} Trans. Robot. ({T-RO})},
  year = {2020},
  doi = {10.1109/TRO.2020.3003464}
}

@article{focchi20frontiers,
  author = {Focchi, Michele and Pucci, Daniele and Del Prete, Andrea},
  title = {Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots},
  journal = {Frontiers in Robotics and AI},
  volume = {7},
  pages = {629002},
  year = {2020},
  doi = {10.3389/frobt.2020.629002}
}

@article{villarreal19ral,
  author = {Villarreal, Octavio and Barasuol, Victor and Camurri, Marco and Franceschi, Luca and Focchi, Michele and Pontil, Massimiliano and Caldwell, Darwin Gordon and Semini, Claudio},
  title = {Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs},
  journal = {IEEE Robotics and Automation Letters},
  year = {2019},
  doi = {10.1109/LRA.2019.2899434}
}

@article{fahmi2019ral,
  author = {Fahmi, Shamel and Mastalli, Carlos and Focchi, Michele and Semini, Claudio},
  title = {Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain},
  journal = {{IEEE} Robot. Automat. Lett. ({RA-L})},
  volume = {4},
  number = {3},
  pages = {2553--2560},
  year = {2019},
  doi = {10.1109/LRA.2019.2908502}
}

@article{aceituno_mastalli17ral,
  author = {Aceituno-Cabezas, Bernardo and Mastalli, Carlos and Dai, Hongkai and Focchi, Michele and Radulescu, Andreea and Caldwell, Darwin G. and Cappelletto, Jos{\'e} and Grieco, Juan C. and Fern{\'a}ndez-L{\'o}pez, Gerardo and Semini, Claudio},
  title = {Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization},
  journal = {IEEE Robotics and Automation Letters},
  volume = {3},
  number = {3},
  pages = {2531--2538},
  year = {2018},
  doi = {10.1109/LRA.2017.2779821}
}

@article{orsolino18ral,
  author = {Orsolino, Romeo and Focchi, Michele and Mastalli, Carlos and Dai, Hongkai and Caldwell, G. D. and Semini, Claudio},
  title = {Application of Wrench Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots},
  journal = {IEEE Robotics and Automation Letters},
  year = {2018},
  doi = {10.1109/LRA.2018.2836441}
}

@article{focchi2016,
  author = {Focchi, Michele and del Prete, Andrea and Havoutis, Ioannis and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio},
  title = {High-slope terrain locomotion for torque-controlled quadruped robots},
  journal = {Autonomous Robots},
  volume = {41},
  number = {1},
  pages = {259--272},
  year = {2017},
  doi = {10.1007/s10514-016-9573-1},
  url = {http://dx.doi.org/10.1007/s10514-016-9573-1}
}

@article{focchi16ctt,
  author = {Focchi, Michele and Medrano-Cerda, Gustavo A. and Boaventura, Thiago and Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.},
  title = {Robot impedance control and passivity analysis with inner torque and velocity feedback loops},
  journal = {Control Theory and Technology},
  volume = {14},
  number = {2},
  year = {2016},
  doi = {10.1007/s11768-016-5015-z},
  url = {http://dx.doi.org/10.1007/s11768-016-5015-z}
}

@article{tmech16semini,
  author = {Semini, Claudio and Barasuol, Victor and Goldsmith, Jake and Frigerio, Marco and Focchi, Michele and Gao, Yifu and Caldwell, Darwin G.},
  title = {Design of the Hydraulically-Actuated, Torque-Controlled Quadruped Robot HyQ2Max},
  journal = {IEEE/ASME Transactions on Mechatronics},
  year = {2016},
  doi = {10.1109/TMECH.2016.2616284}
}

@article{semini15ijrr,
  author = {Semini, Claudio and Barasuol, Victor and Boaventura, Thiago and Frigerio, Marco and Focchi, Michele and Caldwell, Darwin G. and Buchli, Jonas},
  title = {Towards versatile legged robots through active impedance control},
  journal = {The International Journal of Robotics Research (IJRR)},
  volume = {34},
  number = {7},
  pages = {1003--1020},
  year = {2015},
  doi = {10.1177/0278364915578839},
  url = {http://ijr.sagepub.com/content/34/7/1003}
}

@article{dallali15ctt,
  author = {Dallali, Houman and Medrano-Cerda, Gustavo A. and Focchi, Michele and Boaventura, Thiago and Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, DarwinG.},
  title = {On the use of positive feedback for improved torque control},
  journal = {Control Theory and Technology},
  volume = {13},
  number = {3},
  pages = {266-285},
  year = {2015},
  publisher = {South China University of Technology and Academy of Mathematics and Systems Science, CAS},
  doi = {10.1007/s11768-015-4146-y},
  url = {http://dx.doi.org/10.1007/s11768-015-4146-y}
}

@article{bazeille14isr,
  author = {Bazeille, Stephane and Barasuol, Victor and Focchi, Michele and Havoutis, Ioannis and Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio},
  title = {Quadruped robot trotting over irregular terrain assisted by stereo-vision},
  journal = {Intelligent Service Robotics},
  volume = {7},
  number = {2},
  pages = {67-77},
  year = {2014},
  doi = {10.1007/s11370-014-0147-9}
}

@article{kostamo14,
  author = {Kostamo, Esa and Focchi, Michele and Guglielmino, Emanuele and Kostamo, Jari and Semini, Claudio and Buchli, Jonas and Pietola, Matti and Caldwell, Darwin G.},
  title = {Magnetorheologically Damped Compliant Foot for Legged Robotic Application},
  journal = {Journal of Mechanical Design},
  volume = {136},
  number = {2},
  pages = {021003},
  year = {2014},
  doi = {10.1115/1.4025966}
}

@article{semini11hyqdesignjsce,
  author = {Semini, Claudio and Tsagarakis, Nikos G. and Guglielmino, Emanuele and Focchi, Michele and Cannella, Ferdinando and Caldwell, Darwin G.},
  title = {Design of HyQ - a Hydraulically and Electrically Actuated Quadruped Robot},
  journal = {IMechE Part I: Journal of Systems and Control Engineering},
  volume = {225},
  number = {6},
  pages = {831-849},
  year = {2011},
  doi = {10.1177/0959651811402275}
}

@inproceedings{focchi26eccomas,
  author = {Focchi, Michele and Sanguineti, Marcello},
  title = {Cooperative and Optimization-based Framework for Aerial Manipulation},
  booktitle = {17th World Congress on Computational Mechanics and 10th European Congress on Computational Methods in Applied Sciences and Engineering (WCCM-ECCOMAS)},
  year = {2026},
  address = {Munich, Germany}
}

@inproceedings{malacarne26iros,
  author = {Malacarne, Ruben and Tsikelis, Ioannis and Mingo Hoffman, Enrico and Focchi, Michele},
  title = {Bi-Level Optimization for Contact and Motion Planning in Rope-Assisted Legged Robots},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2026},
  archiveprefix = {arXiv},
  eprint = {2604.26910}
}

@inproceedings{bussola24irim,
  author = {Bussola, Riccardo and Focchi, Michele and Zilio, Nicola and Palopoli, Luigi and Fontanelli, Daniele},
  title = {Distributed Robot Perception for Tracked Vehicles},
  booktitle = {I-RIM Conference},
  year = {2024},
  doi = {10.5281/zenodo.14731170}
}

@inproceedings{bratta24ur,
  author = {Bratta, Angelo and Meduri, Avadesh and Focchi, Michele and Righetti, Ludovic and Semini, Claudio},
  title = {ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion},
  booktitle = {21st International Conference on Ubiquitous Robots (UR)},
  pages = {747-754},
  year = {2024},
  doi = {10.1109/UR61395.2024.10597477}
}

@inproceedings{focchi23clawar,
  author = {Focchi, Michele and Roscia, Francesco and Semini, Claudio},
  title = {Locosim: An Open-Source Cross-Platform Robotics Framework},
  booktitle = {Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems},
  year = {2023},
  doi = {10.1007/978-3-031-47272-5_33}
}

@inproceedings{focchi23icra,
  author = {Focchi, Michele and Bensaadallah, Mohamed and Frego, Marco and Peer, Angelika and Fontanelli, Daniele and Del Prete, Andrea and Palopoli, Luigi},
  title = {{CLIO}: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {7742--7748},
  year = {2023},
  doi = {10.1109/ICRA48891.2023.10160440}
}

@inproceedings{dettmann22astra,
  author = {Dettmann, Alexander and Planthaber, Steffen and Bargsten, Vinzenz and Dominguez, Raul and Cerilli, Gianluca and Marchitto, Marco and Fink, Geoff and Focchi, Michele and Barasuol, Victor and Semini, Claudio and Marc, Robert},
  title = {Towards a Generic Navigation and Locomotion Control System for Legged Space Exploration},
  booktitle = {16th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)},
  year = {2022}
}

@inproceedings{clemente22icra,
  author = {Clemente, Luca and Villarreal, Octavio and Bratta, Angelo and Focchi, Michele and Barasuol, Victor and Muscolo, Giovanni Gerardo and Semini, Claudio},
  title = {Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {4679-4685},
  year = {2022},
  doi = {10.1109/ICRA46639.2022.9812434}
}

@inproceedings{bratta20icra,
  author = {Bratta, Angelo and Orsolino, Romeo and Focchi, Michele and Barasuol, Victor and Muscolo, Giovanni Gerardo and Semini, Claudio},
  title = {On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {1417--1423},
  year = {2020},
  address = {Paris, France},
  doi = {10.1109/ICRA40945.2020.9196903}
}

@inproceedings{Semini2019,
  author = {Claudio Semini and Victor Barasuol and Michele Focchi and Chundri Boelens and Mohamed Emara and Salvatore Casella and Octavio Villarreal and Romeo Orsolino and Geoff Fink and Shamel Fahmi and Gustavo Medrano-Cerda and Dhinesh Sangiah and Jack Lesniewski and Kyle Fulton and Michel Donadon and Mike Baker and Darwin G. Caldwell},
  title = {Brief introduction to the quadruped robot {HyQReal}},
  booktitle = {Italian Conference on Robotics and Intelligent Machines {(I-RIM)}},
  pages = {1--2},
  year = {2019},
  address = {Rome}
}

@inproceedings{barasuol19clawar,
  author = {V. {Barasuol} and G. {Fink} and M. {Focchi} and D. G. {Caldwell} and C. {Semini}},
  title = {On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots},
  booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)},
  year = {2019}
}

@inproceedings{tournois17iros,
  author = {Tournois, Guido and Focchi, Michele and del Prete, Andrea and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio},
  title = {Online Payload Identification for Quadruped Robots},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {4889--4896},
  year = {2017},
  doi = {10.1109/IROS.2017.8206367}
}

@inproceedings{orsolino17clawar,
  author = {Orsolino, Romeo and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
  title = {A Combined Limit Cycle-Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding},
  booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)},
  year = {2017},
  doi = {10.1142/9789813231047_0050}
}

@inproceedings{frigerio17clawar,
  author = {Frigerio, Marco and Barasuol, Victor and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
  title = {Validation of Computer Simulations of the HyQ robot},
  booktitle = {International Conference on Climbing and Walking Robots (CLAWAR)},
  year = {2017}
}

@inproceedings{nobili_camurri2017rss,
  author = {Nobili, S. and Camurri, M. and Barasuol, V. and Focchi, M. and Caldwell, D. G. and Semini, C. and Fallon, M.},
  title = {Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots},
  booktitle = {Proceedings of Robotics: Science and Systems},
  year = {2017},
  address = {Boston, USA},
  doi = {10.15607/RSS.2017.XIII.007}
}

@inproceedings{focchi17iros,
  author = {Focchi, Michele and Featherstone, Roy and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio},
  title = {Viscosity-based Height Reflex for Workspace Augmentation for Quadrupedal Locomotion on Rough Terrain},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2017},
  doi = {10.1109/IROS.2017.8206430}
}

@inproceedings{mastalli17icra,
  author = {Mastalli, Carlos and Focchi, Michele and Havoutis, Ioannis and Radulescu, Andreea and Calinon, Sylvain and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio},
  title = {Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {1096--1103},
  year = {2017},
  doi = {10.1109/ICRA.2017.7989131}
}

@inproceedings{icra16brehman,
  author = {Rehman, Bilal U and Focchi, Michele and Lee, Jinoh and Dallali, Houman and Caldwell, Darwin G. and Semini, Claudio},
  title = {Towards a Multi-legged Mobile Manipulator},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2016},
  publisher = {IEEE},
  doi = {10.1109/ICRA.2016.7487545}
}

@inproceedings{kuwahara16acm,
  author = {Kuwahara, Hiroaki and Terai, Fujio and Focchi, Michele and Medrano-Cerda, Gustavo A. and Caldwell, Darwin G. and Semini, Claudio},
  title = {A Design Method of A Robust Controller for Hydraulic Actuation with Disturbance Observers},
  booktitle = {IEEE International Workshop on Advanced Motion Control (AMC)},
  year = {2016},
  publisher = {IEEE},
  doi = {10.1109/AMC.2016.7496365}
}

@inproceedings{icra16mastalli,
  author = {Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
  title = {Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2016},
  publisher = {IEEE},
  doi = {10.1109/ICRA.2016.7487664}
}

@inproceedings{focchi15isrr,
  author = {Focchi, Michele and Barasuol, Victor and Frigerio, Marco and Caldwell, Darwin G. and Semini, Claudio},
  title = {Slip Detection and Recovery for Quadruped Robots},
  booktitle = {Robotics Research (ISRR 2015)},
  series = {Springer Proceedings in Advanced Robotics},
  volume = {3},
  pages = {185--199},
  year = {2018},
  publisher = {Springer},
  doi = {10.1007/978-3-319-60916-4_11}
}

@inproceedings{rehman15clawar,
  author = {Rehman, Bilal U and Focchi, Michele and Frigerio, Marco and Goldsmith, Jake and Caldwell, Darwin G. and Semini, Claudio},
  title = {Design of a Hydraulically Actuated Arm for a Quadruped Robot},
  booktitle = {Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR)},
  year = {2015},
  doi = {10.1142/9789814725248_0036},
  url = {http://www.worldscientific.com/worldscibooks/10.1142/9820}
}

@inproceedings{winkler15icra,
  author = {Winkler, Alexander and Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
  title = {Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2015},
  doi = {10.1109/ICRA.2015.7139916}
}

@inproceedings{semini15sicfp,
  author = {Semini, Claudio and Goldsmith, Jake and Rehman, Bilal U and Frigerio, Marco and Barasuol, Victor and Focchi, Michele and Caldwell, Darwin G.},
  title = {Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur},
  booktitle = {14th Scandinavian International Conference on Fluid Power (SICFP)},
  year = {2015}
}

@inproceedings{winkler14icra,
  author = {Winkler, Alexander and Havoutis, Ioannis and Bazeille, Stephane and Ortiz, Jesus and Focchi, Michele and Dillmann, R{\"u}diger and Caldwell, Darwin G. and Semini, Claudio},
  title = {Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2014},
  doi = {10.1109/ICRA.2014.6907815}
}

@inproceedings{focchi2013a,
  author = {Focchi, Michele and Barasuol, Victor and Havoutis, Ioannis and Buchli, Jonas and Semini, Claudio and Caldwell, Darwin G.},
  title = {Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion},
  booktitle = {Int. Conf. on Climbing and Walking Robots (CLAWAR)},
  year = {2013},
  doi = {10.1142/9789814525534_0056},
  url = {http://www.worldscientific.com/worldscibooks/10.1142/8913}
}

@inproceedings{bazeille13tepra,
  author = {Bazeille, S. and Barasuol, V. and Focchi, M. and Havoutis, I. and Frigerio, M. and Buchli, J. and Semini, C. and Caldwell, Darwin G.},
  title = {Vision enhanced reactive locomotion control for trotting on rough terrain},
  booktitle = {IEEE International Conference on Technologies for Practical Robot Applications (TePRA)},
  pages = {1-6},
  year = {2013},
  doi = {10.1109/TePRA.2013.6556366}
}

@inproceedings{boaventura12iros,
  author = {Boaventura, Thiago and Focchi, Michele and Frigerio, Marco and Buchli, Jonas and Semini, Claudio and Medrano-Cerda, Gustavo A. and Caldwell, Darwin G.},
  title = {On the role of load motion compensation in high-performance force control},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2012},
  doi = {10.1109/IROS.2012.6385953}
}

@inproceedings{semini12clawar,
  author = {Semini, Claudio and Khan, Hamza and Frigerio, Marco and Boaventura, Thiago and Focchi, Michele and Buchli, Jonas and Caldwell, Darwin G.},
  title = {Design and Scaling of Versatile Quadruped Robots},
  booktitle = {Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Baltimore, USA},
  pages = {273-280},
  year = {2012},
  doi = {10.1142/9789814415958_0037},
  url = {http://www.worldscientific.com/worldscibooks/10.1142/8546}
}

@inproceedings{boaventura12icra,
  author = {Boaventura, Thiago and Semini, Claudio and Buchli, Jonas and Frigerio, Marco and Focchi, Michele and Caldwell, Darwin G.},
  title = {Dynamic Torque Control of a Hydraulic Quadruped Robot},
  booktitle = {IEEE International Conference in Robotics and Automation},
  pages = {1889-1894},
  year = {2012},
  doi = {10.1109/ICRA.2012.6224628}
}

@inproceedings{focchi12acm,
  author = {Focchi, Michele and Boaventura, Thiago and Semini, Claudio and Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G.},
  title = {Torque-control Based Compliant Actuation of a Quadruped Robot},
  booktitle = {Proc. of the 12th IEEE Int. Workshop on Advanced Motion Control (AMC)},
  year = {2012},
  doi = {10.1109/AMC.2012.6197133}
}

@inproceedings{focchi11turboexpo,
  author = {Focchi, Michele and Persico, Giacomo and Guglielmino, Emanuele and Caldwell, Darwin G.},
  title = {Novel Concept for an Air-Pressure Driven Micro-Turbine for Power Generation},
  booktitle = {ASME Turbo Expo 2011: Turbine Technical Conference and Exposition},
  year = {2011},
  address = {Vancouver, Canada},
  doi = {10.1115/GT2011-45897}
}

@inproceedings{focchi10icra,
  author = {M. {Focchi} and E. {Guglielmino} and C. {Semini} and T. {Boaventura} and Y. {Yang} and D. G. {Caldwell}},
  title = {Control of a hydraulically-actuated quadruped robot leg},
  booktitle = {IEEE International Conference on Robotics and Automation},
  pages = {4182-4188},
  year = {2010},
  doi = {10.1109/ROBOT.2010.5509697}
}

@inproceedings{focchi10iros,
  author = {M. {Focchi} and E. {Guglielmino} and C. {Semini} and A. {Parmiggiani} and N. {Tsagarakis} and B. {Vanderborght} and D. G. {Caldwell}},
  title = {Water/air performance analysis of a fluidic muscle},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages = {2194-2199},
  year = {2010},
  doi = {10.1109/IROS.2010.5650432}
}