M
Marco Frigerio
Researcher at Istituto Italiano di Tecnologia
Publications - 28
Citations - 1270
Marco Frigerio is an academic researcher from Istituto Italiano di Tecnologia. The author has contributed to research in topics: Robot & Impedance control. The author has an hindex of 17, co-authored 28 publications receiving 1028 citations. Previous affiliations of Marco Frigerio include Katholieke Universiteit Leuven.
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Journal ArticleDOI
Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max
Claudio Semini,Victor Barasuol,Jake Goldsmith,Marco Frigerio,Michele Focchi,Yifu Gao,Darwin G. Caldwell +6 more
TL;DR: In this paper, the authors presented the design of the hydraulically actuated quadruped robot HyQ2Max, which is an evolution of the 80 kg agile and versatile robot HQ. Compared to HQ, the new robot needs to be more rugged, more powerful and extend the existing locomotion skills with self-righting capability.
Proceedings ArticleDOI
A reactive controller framework for quadrupedal locomotion on challenging terrain
Victor Barasuol,Jonas Buchli,Claudio Semini,Marco Frigerio,Edson Roberto De Pieri,Darwin G. Caldwell +5 more
TL;DR: A task space CPG-based trajectory generation that can be modulated according to terrain irregularities and the posture of the robot trunk, and a null space based attitude control for the trunk and a push recovery algorithm based on the concept of capture points are implemented.
Proceedings ArticleDOI
Dynamic torque control of a hydraulic quadruped robot
Thiago Boaventura,Claudio Semini,Jonas Buchli,Marco Frigerio,Michele Focchi,Darwin G. Caldwell +5 more
TL;DR: This paper identifies the requirements for versatile robotic legged locomotion and shows that HyQ is fulfilling most of these specifications and is able to cope with the mechanical requirements of dynamic movements and locomotion, such as jumping and trotting.
Journal ArticleDOI
Towards versatile legged robots through active impedance control
Claudio Semini,Victor Barasuol,Thiago Boaventura,Marco Frigerio,Michele Focchi,Darwin G. Caldwell,Jonas Buchli +6 more
TL;DR: This is the first time a flying trot has been successfully implemented on a robot without passive elements such as springs, and it is demonstrated that active impedance alone can successfully emulate passively compliant elements during highly dynamic locomotion tasks.
Journal ArticleDOI
Robot impedance control and passivity analysis with inner torque and velocity feedback loops
Michele Focchi,Gustavo A. Medrano-Cerda,Thiago Boaventura,Marco Frigerio,Claudio Semini,Jonas Buchli,Darwin G. Caldwell +6 more
TL;DR: A methodology for designing joint impedance controllers based on an inner torque loop and a positive velocity feedback loop will be presented and the goal of the velocity feedback is to increase (given the constraints to preserve stability) the bandwidth of the torque loop without the need of a complex controller.