Publications

2 minute read

PhD dissertation

R. Orsolino, Actuation Aware Simplified Dynamic Models for Robotic Legged Locomotion,
PhD dissertation, Istituto Italiano di Tecnologia (IIT), Genova, Italy, 2019

Under Review

A. Abdalla, M. Focchi, R. Orsolino and C. Semini, An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion, arXiv, 2020

S. Gangapurwala, M. Geisert, R. Orsolino, I. Havoutis and M. Fallon, RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control, arXiv, 2020

Journal Papers

J. M. Driessen and R. Orsolino, Improving Robustness of Legged Robots against Mechanical Shock Using Impulsive Dynamics,
Frontiers in Mechanical Engineering, 2020
R. Orsolino, M. Focchi, S. Caron, G. Raiola, V. Barasuol and C. Semini, Feasible Region: an Actuation-Aware Extension of the Support Region,
Transactions on Robotics (TRO), 2020
M. Focchi, R. Orsolino, M. Camurri, V. Barasuol, C. Mastalli, D.G. Caldwell and C. Semini, Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality,
Springer Tracts on Advanced Robotics (STAR), 2019
R. Orsolino, M. Focchi, C. Mastalli, H. Dai, D.G. Caldwell and C. Semini, Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots,
IEEE Robotics and Automation Letters (RA-L), 2018

Conference Papers

A. Bratta, R. Orsolino, M. Focchi, V. Barasuol, G. G. Muscolo and C. Semini, On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics,
International Conference on Robotics and Automation (ICRA), 2020
S. Xin, R. Orsolino and N. Tsagarakis, Online Relative Footstep Optimization for Legged Robots Dynamic Walking Using Discrete-Time Model Predictive Control,
International Conference on Intelligent Robots and Systems (IROS), 2019
R. Orsolino, M. Focchi, D.G. Caldwell and C. Semini, A Combined Limit Cycle - Zero Moment Point Based Approach for Omni-Directional Quadrupedal Bounding,
International Conference on Climbing and Walking Robots (CLAWAR), 2017
G. Tournois, M. Focchi, A. Del Prete, R. Orsolino, D.G. Caldwell and C. Semini, Online Payload Identification for Quadruped Robots,
International Conference on Intelligent Robots and Systems (IROS), 2017
M. Focchi, R. Featherstone, R. Orsolino, D.G. Caldwell and C. Semini, Viscosity-based Height Reflex for Workspace Augmentation for Quadrupedal Locomotion on Rough Terrain,
International Conference on Intelligent Robots and Systems (IROS), 2017

Abstracts

A. Abdalla, M. Focchi, R. Orsolino and C. Semini, The Reachable Region: a Fast Kinematic Feasibility Criterion for Legged Locomotion,
Istituto di Robotica e Macchine Intelligenti (I-RIM), 2020
C. Semini, V. Barasuol, M. Focchi, C. Boelens, M. Emara, S. Casella, O. Villarreal, R. Orsolino, G. Fink, S. Fahmi, G. Medrano-Cerda and D.G. Caldwell, Brief introduction to the quadruped robot hyqreal,
Istituto di Robotica e Macchine Intelligenti (I-RIM), 2019
R. Orsolino, M. Focchi, D.G. Caldwell and C. Semini, Turning Maneuvers Strategy for Quadrupedal Bounding Gait,
Dynamic Walking, 2017
R. Orsolino, M. Focchi, D.G. Caldwell and C. Semini, An asymmetric model for quadrupedal bounding in place,
Human Friendly Robotics (HFR), 2016