Publications
3 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
Journal Papers
- A. Abdalla, M. Focchi, R. Orsolino and C. Semini, An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion,
- IEEE Transactions on Robotics (TRO), 2023
- S. Gangapurwala, M. Geisert, R. Orsolino, I. Havoutis and M. Fallon, RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control,
- IEEE Transactions on Robotics (TRO), 2022
- Video
- 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,
- IEEE 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
- R. Orsolino, O. Melon, S. Gangapurwala, M. Geisert, I. Havoutis and M. Fallon, Rapid stability margin estimation for contact-rich locomotion,
- IEEE International Conference on Intelligent Robots and Systems (IROS), 2021
- Presentation video (long), Short video
- O. Melon, R. Orsolino, D. Surovik, M. Geisert, I. Havoutis and M. Fallon, Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization,
- IEEE International Conference on Robotics and Automation (ICRA), 2021
- Presentation video (long), Short video
- S. Gangapurwala, M. Geisert, R. Orsolino, I. Havoutis and M. Fallon, Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning,
- IEEE IEEE International Conference on Robotics and Automation (ICRA), 2021
- Video
- 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,
- IEEE 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,
- IEEE 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,
- IEEE 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,
- IEEE 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,
- IEEE 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
