Claudio Semini

Visual geometry alone misjudges rough planetary surfaces—fusing real-time proprioceptive contact dynamics into multi-layer maps enables quadruped scouts to systematically discover significantly lower-energy navigation paths.

Modular control architectures can dramatically improve legged robot locomotion performance in the face of actuator failures, outperforming traditional monolithic policies.

Stability violations in quadruped robots can be reduced by up to 10x through impedance-aware control strategies that leverage passive dynamics.