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• Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
  2020 · 140 citations
• Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators
  2023 · 14 citations
• Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
  2024 · 13 citations
• MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots
  2025 · 4 citations
• Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot
  2020 · 3 citations
• Locosim: an Open-Source Cross-Platform Robotics Framework
  2023 · 3 citations
• SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
  2023 · 3 citations
• Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots
  2023 · 2 citations
• Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion
  2023 · 2 citations
• Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation
  2025 · 1 citations
• Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation
  2021 · 1 citations
• ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots
  2026
• Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion
  2026
• Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
  2026
• Iterated Invariant EKF for Quadruped Robot Odometry
  2026