Giulio Turrisi

Publications

Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, T. Yoshiike, Claudio Semini, Daniele Pucci

arXiv.org 2024

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Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning

Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning

Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv, Angela Dai, Victor Barasuol, Giulio Turrisi, Claudio Semini

arXiv.org 2024

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VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal

Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini

J. Field Robotics 2024

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PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control

PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control

Giulio Turrisi, Lucas Schulze, V. S. Medeiros, Claudio Semini, Victor Barasuol

arXiv.org 2024

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Leveraging Symmetry in RL-based Legged Locomotion Control

Leveraging Symmetry in RL-based Legged Locomotion Control

Zhi Su, Xiaoyu Huang, Daniel Ordonez-Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, K. Sreenath

arXiv.org 2024

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Accelerating Model Predictive Control for Legged Robots through Distributed Optimization

Accelerating Model Predictive Control for Legged Robots through Distributed Optimization

Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini

arXiv.org 2024

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On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion

On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion

Giulio Turrisi, Valerio Modugno, Lorenzo Amatucci, Dimitrios Kanoulas, Claudio Semini

arXiv.org 2024

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Morphological Symmetries in Robotics

Morphological Symmetries in Robotics

Daniel Felipe Ordoñez Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martin, Antonio Agudo, F. Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli

arXiv.org 2024

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Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling

Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling

Daniel Felipe Ordoñez Apraez, Vladimir Kostic, Giulio Turrisi, P. Novelli, Carlos Mastalli, Claudio Semini, M. Pontil

Conference on Learning for Dynamics & Control 2023

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Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion

Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion

Shafeef Omar, Lorenzo Amatucci, Giulio Turrisi, Victor Barasuol, C. Semini

arXiv.org 2023

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SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors

SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors

Shafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, C. Semini

IEEE-RAS International Conference on Humanoid Robots 2023

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Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller

Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller

I. Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, C. Semini, Sven Behnke

IEEE/RJS International Conference on Intelligent RObots and Systems 2023

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On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics

On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics

Giulio Turrisi, M. Capotondi, C. Gaz, Valerio Modugno, G. Oriolo, Alessandro De Luca

IEEE Robotics and Automation Letters 2022

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Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot

Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot

Giulio Turrisi, B. B. Carlos, Massimo Cefalo, Valerio Modugno, L. Lanari, G. Oriolo

IFAC-PapersOnLine 2020

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Learning Feedback Linearization Control Without Torque Measurements

Learning Feedback Linearization Control Without Torque Measurements

M. Capotondi, Giulio Turrisi, C. Gaz, Valerio Modugno, G. Oriolo, Alessandro De Luca

An Online Learning Procedure for Feedback Linearization Control without Torque Measurements

An Online Learning Procedure for Feedback Linearization Control without Torque Measurements

M. Capotondi, Giulio Turrisi, C. Gaz, Valerio Modugno, G. Oriolo, Alessandro De Luca

Conference on Robot Learning 2019