Claudio Semini
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Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots Open
This paper introduces a novel Model Predictive Control (MPC) implementation for legged robot locomotion that leverages GPU parallelization. Our approach enables both temporal and state-space parallelization by incorporating a parallel asso…
CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation Open
Learning robotic manipulation policies through supervised learning from demonstrations remains challenging when policies encounter execution variations not explicitly covered during training. While incorporating historical context through …
View article: Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots Open
Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge o…
Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots Open
This paper introduces a novel Model Predictive Control (MPC) implementation for legged robot locomotion that leverages GPU parallelization. Our approach enables both temporal and state-space parallelization by incorporating a parallel asso…
Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation Open
Humans naturally exhibit bilateral symmetry in their gross manipulation skills, effortlessly mirroring simple actions between left and right hands. Bimanual robots-which also feature bilateral symmetry-should similarly exploit this propert…
Multi-Sensor Fusion for Quadruped Robot State Estimation Using Invariant Filtering and Smoothing Open
This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The proposed methods, named E-InEKF and E-IS, fuse kinematics, IMU…
SANDRO: a Robust Solver with a Splitting Strategy for Point Cloud Registration Open
Point cloud registration is a critical problem in computer vision and robotics, especially in the field of navigation. Current methods often fail when faced with high outlier rates or take a long time to converge to a suitable solution. In…
Morphological symmetries in robotics Open
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot’s morphology, frequently observed in animal biology and robotics, which stem from the…
Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions Open
Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This pap…
View article: Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots Open
Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot's dynamics, were shown to endow…
Creating a Segmented Pointcloud of Grapevines by Combining Multiple Viewpoints Through Visual Odometry Open
Grapevine winter pruning is a labor-intensive and repetitive process that significantly influences the quality and quantity of the grape harvest and produced wine of the following season. It requires a careful and expert detection of the p…
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning Open
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the applicab…
View article: ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion Open
The field of legged robots has seen tremendous progress in the last few years. Locomotion trajectories are commonly generated by optimization algorithms in a Model Predictive Control (MPC) loop. To achieve online trajectory optimization, t…
Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation Open
The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot de…
VERO: A vacuum‐cleaner‐equipped quadruped robot for efficient litter removal Open
Litter nowadays presents a significant threat to the equilibrium of many ecosystems. An example is the sea, where litter coming from coasts and cities via gutters, streets, and waterways, releases toxic chemicals and microplastics during i…
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control Open
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a mini…
Leveraging Symmetry in RL-based Legged Locomotion Control Open
Model-free reinforcement learning is a promising approach for autonomously solving challenging robotics control problems, but faces exploration difficulty without information of the robot's kinematics and dynamics morphology. The under-exp…
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization Open
This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing …
On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion Open
Quadrupedal robots excel in mobility, navigating complex terrains with agility. However, their complex control systems present challenges that are still far from being fully addressed. In this paper, we introduce the use of Sample-Based St…
Morphological Symmetries in Robotics Open
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently observed in animal biology and robotics, which stem from the…
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling Open
We introduce the use of harmonic analysis to decompose the state space of symmetric robotic systems into orthogonal isotypic subspaces. These are lower-dimensional spaces that capture distinct, symmetric, and synergistic motions. For linea…
View article: Editorial: Robotics in extreme environments, volume II
Editorial: Robotics in extreme environments, volume II Open
EDITORIAL article Front. Robot. AI, 24 November 2023Sec. Robotic Control Systems Volume 10 - 2023 | https://doi.org/10.3389/frobt.2023.1337681
View article: Reactive Landing Controller for Quadruped Robots
Reactive Landing Controller for Quadruped Robots Open
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficul…
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors Open
We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learning process analyzes terrain patches, classifying each land…
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller Open
Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world scenarios, they must be able to autonomously and robustly …
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators Open
We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows f…
View article: An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion Open
Developing feasible body trajectories for legged systems on arbitrary terrains is a challenging task. Given some contact points, the trajectories for the Center of Mass (CoM) and body orientation, designed to move the robot, must satisfy c…
View article: Reactive Landing Controller for Quadruped Robots
Reactive Landing Controller for Quadruped Robots Open
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficul…
View article: Locosim: an Open-Source Cross-Platform Robotics Framework
Locosim: an Open-Source Cross-Platform Robotics Framework Open
The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed…