Michele Focchi

Learn More
* corresponding author: claudio.semini@iit.it 1 Preprint of 25/2/2011 Copyright by SAGE Publications Ltd. Abstract— A new versatile Hydraulically-powered Quadruped robot (HyQ) has been developed to serve as a platform to study not only highly dynamic motions such as running and jumping, but also careful navigation over very rough terrain. HyQ stands 1 meter(More)
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing nested control systems is to maximize the bandwidth of the inner loop to improve tracking performance, it may not be the(More)
Legged robots have the potential to serve as versatile and useful autonomous robotic platforms for use in unstructured environments such as disaster sites. They need to be both capable of fast dynamic locomotion and precise movements. However, there is a lack of platforms with suitable mechanical properties and adequate controllers to advance the research(More)
We present a framework for quadrupedal locomotion over highly challenging terrain where the choice of appropriate footholds is crucial for the success of the behaviour. We use a path planning approach which shares many similarities with the results of the DARPA Learning Locomotion challenge and extend it to allow more flexibility and increased robustness.(More)
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 the environment on-line and on-board using an efficient occupancy grid representation. We use Any-time-Repairing A* (ARA*) to search over a tree of possible actions,(More)
Research into legged robotics is primarily motivated by the prospects of building machines that are able to navigate in challenging and complex environments that are predominantly non-flat. In this context, control of contact forces is fundamental to ensure stable contacts and equilibrium of the robot. In this paper we propose a planning/control framework(More)
This paper is focussed on the modelling and control of a hydraulically-driven biologically-inspired robotic leg. The study is part of a larger project aiming at the development of an autonomous quadruped robot (hyQ) for outdoor operations. The leg has two hydraulically-actuated degrees of freedom (DOF), the hip and knee joints. The actuation system is(More)
Legged robots have the potential to navigate in more challenging terrain than wheeled robots do. Unfortunately, their control is more difficult because they have to deal with the traditional mapping and path planning problems, as well as foothold computation, leg trajectories and posture control in order to achieve successful navigation. Many parameters(More)