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  • Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
  • Engineering, Computer Science
  • IEEE International Conference on Robotics and…
  • 2015 (First Publication: 26 May 2015)
  • We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build a model of theExpand
  • Bram Vanderborght, Nikolaos G. Tsagarakis, Claudio Semini, Ronald Van Ham, Darwin G. Caldwell
  • Engineering, Computer Science
  • IEEE International Conference on Robotics and…
  • 2009 (First Publication: 12 May 2009)
  • The MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) is an electric actuator of which the compliance and equilibrium position are fully independentlyExpand
  • Thiago Boaventura Cunha, Gustavo A. Medrano-Cerda, Claudio Semini, Jonas Buchli, Darwin G. Caldwell
  • Computer Science
  • IEEE/RSJ International Conference on Intelligent…
  • 2013 (First Publication: 1 November 2013)
  • A legged robot has to deal with environmental contacts every time it takes a step. To properly handle these interactions, it is desirable to be able to set the foot compliance. For anExpand
  • Victor Barasuol, Jonas Buchli, Claudio Semini, Marco Frigerio, Edson R. de Pieri, Darwin G. Caldwell
  • Computer Science, Engineering
  • IEEE International Conference on Robotics and…
  • 2013 (First Publication: 6 May 2013)
  • We propose a reactive controller framework for robust quadrupedal locomotion, designed to cope with terrain irregularities, trajectory tracking errors and poor state estimation. The frameworkExpand