An online learning procedure for feedback linearization control without torque measurements M Capotondi, G Turrisi, C Gaz, V Modugno, G Oriolo, A De Luca Conference on Robot Learning 100, 1359-1368, 2019 | 16 | 2019 |
On-line learning for planning and control of underactuated robots with uncertain dynamics G Turrisi, M Capotondi, C Gaz, V Modugno, G Oriolo, A De Luca IEEE Robotics and Automation Letters 7 (1), 358-365, 2022 | 10 | 2022 |
Enforcing constraints over learned policies via nonlinear MPC: Application to the pendubot G Turrisi, BB Carlos, M Cefalo, V Modugno, L Lanari, G Oriolo IFAC-PapersOnLine 53 (2), 9502-9507, 2020 | 8 | 2020 |
Morphological symmetries in robotics D Ordoñez-Apraez, G Turrisi, V Kostic, M Martin, A Agudo, ... The International Journal of Robotics Research, 2024 | 3 | 2024 |
Accelerating model predictive control for legged robots through distributed optimization L Amatucci, G Turrisi, A Bratta, V Barasuol, C Semini 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 | 2 | 2024 |
SafeSteps: Learning safer footstep planning policies for legged robots via model-based priors S Omar, L Amatucci, V Barasuol, G Turrisi, C Semini 2023 IEEE-RAS International Conference on Humanoid Robots, 1-8, 2023 | 2 | 2023 |
VERO: A vacuum‐cleaner‐equipped quadruped robot for efficient litter removal L Amatucci, G Turrisi, A Bratta, V Barasuol, C Semini Journal of Field Robotics 41 (6), 1829–1842, 2024 | 1 | 2024 |
Leveraging symmetry in RL-based legged locomotion control Z Su, X Huang, D Ordoñez-Apraez, Y Li, Z Li, Q Liao, G Turrisi, M Pontil, ... 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 | 1 | 2024 |
On the benefits of gpu sample-based stochastic predictive controllers for legged locomotion G Turrisi, V Modugno, L Amatucci, D Kanoulas, C Semini 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 | 1 | 2024 |
Dynamics harmonic analysis of robotic systems: Application in data-driven koopman modelling D Ordoñez-Apraez, V Kostic, G Turrisi, P Novelli, C Mastalli, C Semini, ... 6th Annual Learning for Dynamics & Control Conference 242, 1318-1329, 2024 | 1 | 2024 |
Fast convex visual foothold adaptation for quadrupedal locomotion S Omar, L Amatucci, G Turrisi, V Barasuol, C Semini 2022 I-RIM Conference, 143-146, 2022 | 1 | 2022 |
Learning feedback linearization control without torque measurements M Capotondi, G Turrisi, C Gaz, V Modugno, G Oriolo, A De Luca 2020 I-RIM Conference, 131-134, 2020 | 1 | 2020 |
Online non-linear centroidal MPC with stability guarantees for robust locomotion of legged robots M Elobaid, G Turrisi, L Rapetti, G Romualdi, S Dafarra, T Kawakami, ... arXiv preprint arXiv:2409.01144, 2024 | | 2024 |
Non-gaited legged locomotion with monte-carlo tree search and supervised learning I Taouil, L Amatucci, M Khadiv, A Dai, V Barasuol, G Turrisi, C Semini arXiv preprint arXiv:2408.07508, 2024 | | 2024 |
Preliminary results of simulating sliding-based locomotion for planetary exploration in craters V Barasuol, L Patanè, DOA Tawil, AL Noce, G Turrisi, P Arena, C Semini Workshop on Exploring the Lunar Frontier Leveraging Robotic Missions, 2024 …, 2024 | | 2024 |
Toward faster optimization for legged robots: A distributed approach L Amatucci, G Turrisi, A Bratta, V Barasuol, C Semini Workshop in Advancements in Trajectory Optimization and Model Predictive …, 2024 | | 2024 |
PACC: A passive-arm approach for high-payload collaborative carrying with quadruped robots using model predictive control G Turrisi, L Schulze, VS Medeiros, C Semini, V Barasuol 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 | | 2024 |
Quadrupedal footstep planning using learned motion models of a black-box controller I Taouil, G Turrisi, D Schleich, V Barasuol, C Semini, S Behnke 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2023 | | 2023 |
Learning-based methods for robotic control G Turrisi, G Oriolo Sapienza, University of Rome, 2022 | | 2022 |