Thiago Boaventura
Thiago Boaventura
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Dynamic torque control of a hydraulic quadruped robot
T Boaventura, C Semini, J Buchli, M Frigerio, M Focchi, DG Caldwell
2012 IEEE international conference on robotics and automation, 1889-1894, 2012
Towards versatile legged robots through active impedance control
C Semini, V Barasuol, T Boaventura, M Frigerio, M Focchi, DG Caldwell, ...
The International Journal of Robotics Research 34 (7), 1003-1020, 2015
Model-based hydraulic impedance control for dynamic robots
T Boaventura, J Buchli, C Semini, DG Caldwell
IEEE Transactions on Robotics 31 (6), 1324-1336, 2015
Stability and performance of the compliance controller of the quadruped robot HyQ
T Boaventura, GA Medrano-Cerda, C Semini, J Buchli, DG Caldwell
2013 IEEE/RSJ international conference on intelligent robots and systems …, 2013
On the role of load motion compensation in high-performance force control
T Boaventura, M Focchi, M Frigerio, J Buchli, C Semini, ...
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2012
Robot impedance control and passivity analysis with inner torque and velocity feedback loops
M Focchi, GA Medrano-Cerda, T Boaventura, M Frigerio, C Semini, ...
Control Theory and Technology 14 (2), 97-112, 2016
Torque-control based compliant actuation of a quadruped robot
M Focchi, T Boaventura, C Semini, M Frigerio, J Buchli, DG Caldwell
2012 12th IEEE international workshop on advanced motion control (AMC), 1-6, 2012
Control of a hydraulically-actuated quadruped robot leg
M Focchi, E Guglielmino, C Semini, T Boaventura, Y Yang, DG Caldwell
2010 IEEE International Conference on Robotics and Automation, 4182-4188, 2010
Hydraulic compliance control of the quadruped robot HyQ
T Boaventura
Doctor of philosophy, PhD thesis, Advanced Robotics Department, University …, 2013
Is active impedance the key to a breakthrough for legged robots?
C Semini, V Barasuol, T Boaventura, M Frigerio, J Buchli
Robotics Research, 3-19, 2016
Why off-the-shelf physics simulators fail in evaluating feedback controller performance-a case study for quadrupedal robots
M Neunert, T Boaventura, J Buchli
Advances in Cooperative Robotics, 464-472, 2017
Design and scaling of versatile quadruped robots
C Semini, H Khan, M Frigerio, T Boaventura, M Focchi, J Buchli, ...
Adaptive Mobile Robotics, 273-280, 2012
Modeling of a novel 3-way rotary type electro-hydraulic valve
Y Yang, E Guglielmino, JS Dai, T Boaventura, DG Caldwell
The 2010 IEEE International Conference on Information and Automation, 1463-1468, 2010
Acceleration-based transparency control framework for wearable robots
T Boaventura, J Buchli
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2016
HyQ–a dynamic locomotion research platform
C Semini, J Buchli, M Frigerio, T Boaventura, M Focchi, E Guglielmino, ...
International Workshop on Bio-Inspired Robots, Nantes (France), 2011
Online prediction of threading task failure using convolutional neural networks
GR Moreira, GJG Lahr, T Boaventura, JO Savazzi, GAP Caurin
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018
Interaction force estimation for transparency control on wearable robots using a kalman filter
T Boaventura, L Hammer, J Buchli
Converging clinical and engineering research on neurorehabilitation II, 489-493, 2017
On the use of positive feedback for improved torque control
H Dallali, GA Medrano-Cerda, M Focchi, T Boaventura, M Frigerio, ...
Control Theory and Technology 13 (3), 266-285, 2015
Control of Motion and Compliance
K Mombaur, H Vallery, Y Hu, J Buchli, P Bhounsule, T Boaventura, ...
Bioinspired Legged Locomotion, 135-346, 2017
Performance assessment of digital hydraulics in a quadruped robot leg
S Peng, DT Branson III, E Guglielmino, T Boaventura, DG Caldwell
Engineering Systems Design and Analysis 44861, 227-234, 2012
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