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• Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
  2020 · 140 citations
• Locosim: an Open-Source Cross-Platform Robotics Framework
  2023 · 3 citations
• CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
  2022 · 1 citations
• ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
  2022 · 1 citations
• Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
  2025
• Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
  2018
• Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs
  2018
• Feasible Region: an Actuation-Aware Extension of the Support Region
  2019
• Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain