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Giulio Turrisi
Giulio Turrisi
Researcher at the Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia
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An online learning procedure for feedback linearization control without torque measurements
M Capotondi, G Turrisi, C Gaz, V Modugno, G Oriolo, A De Luca
Conference on Robot Learning 100, 1359-1368, 2019
172019
On-line learning for planning and control of underactuated robots with uncertain dynamics
G Turrisi, M Capotondi, C Gaz, V Modugno, G Oriolo, A De Luca
IEEE Robotics and Automation Letters 7 (1), 358-365, 2022
122022
Enforcing constraints over learned policies via nonlinear MPC: Application to the pendubot
G Turrisi, BB Carlos, M Cefalo, V Modugno, L Lanari, G Oriolo
IFAC-PapersOnLine 53 (2), 9502-9507, 2020
92020
Leveraging symmetry in RL-based legged locomotion control
Z Su, X Huang, D Ordoñez-Apraez, Y Li, Z Li, Q Liao, G Turrisi, M Pontil, ...
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
52024
Morphological symmetries in robotics
D Ordoñez-Apraez, G Turrisi, V Kostic, M Martin, A Agudo, ...
The International Journal of Robotics Research, 1-24, 2025
42025
VERO: A vacuum‐cleaner‐equipped quadruped robot for efficient litter removal
L Amatucci, G Turrisi, A Bratta, V Barasuol, C Semini
Journal of Field Robotics 41 (6), 1829–1842, 2024
42024
Accelerating model predictive control for legged robots through distributed optimization
L Amatucci, G Turrisi, A Bratta, V Barasuol, C Semini
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
42024
PACC: A passive-arm approach for high-payload collaborative carrying with quadruped robots using model predictive control
G Turrisi, L Schulze, VS Medeiros, C Semini, V Barasuol
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
32024
On the benefits of gpu sample-based stochastic predictive controllers for legged locomotion
G Turrisi, V Modugno, L Amatucci, D Kanoulas, C Semini
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
32024
SafeSteps: Learning safer footstep planning policies for legged robots via model-based priors
S Omar, L Amatucci, V Barasuol, G Turrisi, C Semini
2023 IEEE-RAS International Conference on Humanoid Robots, 1-8, 2023
32023
Dynamics harmonic analysis of robotic systems: Application in data-driven koopman modelling
D Ordoñez-Apraez, V Kostic, G Turrisi, P Novelli, C Mastalli, C Semini, ...
6th Annual Learning for Dynamics & Control Conference 242, 1318-1329, 2024
22024
Fast convex visual foothold adaptation for quadrupedal locomotion
S Omar, L Amatucci, G Turrisi, V Barasuol, C Semini
2022 I-RIM Conference, 143-146, 2022
22022
Non-gaited legged locomotion with monte-carlo tree search and supervised learning
I Taouil, L Amatucci, M Khadiv, A Dai, V Barasuol, G Turrisi, C Semini
IEEE Robotics and Automation Letters 10 (2), 1265-1272, 2025
12025
Quadrupedal footstep planning using learned motion models of a black-box controller
I Taouil, G Turrisi, D Schleich, V Barasuol, C Semini, S Behnke
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2023
12023
Learning feedback linearization control without torque measurements
M Capotondi, G Turrisi, C Gaz, V Modugno, G Oriolo, A De Luca
2020 I-RIM Conference, 131-134, 2020
12020
Adaptive non-linear centroidal MPC with stability guarantees for robust locomotion of legged robots
M Elobaid, G Turrisi, L Rapetti, G Romualdi, S Dafarra, T Kawakami, ...
IEEE Robotics and Automation Letters 10 (3), 2806-2813, 2025
2025
Learning-based methods for robotic control
G Turrisi
Sapienza, University of Rome, 2022
2022
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Artículos 1–17