Optimization for non-periodic dynamic motions of legged systems by Radulescu, A, Havoutis, I, Caldwell, D, Semini, C

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems by Radulescu, A, Havoutis, I, Caldwell, D, Semini, C

Hierarchical planning of dynamic movements without scheduled contact sequences by Mastalli, C, Havoutis, I, Focchi, M, Caldwell, D, Semini, C

Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control by Mastalli, C, Havoutis, I, Focchi, M, Caldwell, DG, Semini, C

Preview optimization for learning locomotion policies on rough terrain by Mastalli, C, Havoutis, I, Radulescu, A, Focchi, M, Caldwell, D, Semini, C

Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots by Nobili, S, Camurri, M, Barasuol, V, Focchi, M, Caldwell, D, Semini, C, Fallon, M

High-slope terrain locomotion for torque-controlled quadruped robots by Focchi, M, del Prete, A, Havoutis, I, Featherstone, R, Caldwell, D, Semini, C

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion by Mastalli, C, Focchi, M, Havoutis, I, Radulescu, A, Calinon, S, Buchli, J, Caldwell, D, Semini, C