Publications

Our up-to-date publication list is also available on Google Scholar.

Jump to: 2024 2023 2022 2021 2020 2019 2018 2017 Pre-2017

Preprints

  1. S. Kleff, A. Jordana, N. Mansard, L. Righetti, "Force Feedback in Model Predictive Control: A Soft Contact Approach," , 2024.
  2. A. Gazar, M. Khadiv, A. D. Prete, L. Righetti, "Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty," , no. arXiv:2309.04469, 2023.
  3. A. Jordana, S. Kleff, A. Meduri, J. Carpentier, N. Mansard, L. Righetti, "Stagewise Implementations of Sequential Quadratic Programming for Model-Predictive Control," , no. hal-04330251, 2023.

2024

  1. A. Jordana, S. Kleff, J. Carpentier, N. Mansard, L. Righetti, "Force Feedback Model-Predictive Control Via Online Estimation," in IEEE international conference on robotics and automation, May, 2024.
  2. A. Jordana, A. Meduri, E. Arlaud, J. Carpentier, L. Righetti, "Risk-Sensitive Extended Kalman Filter," in IEEE international conference on robotics and automation, May, 2024.
  3. A. Bratta, A. Meduri, M. Focchi, L. Righetti, C. Semini, "ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion," in 21st International Conference on Ubiquitous Robots, Jun, 2024.
  4. J. Ortiz-Haro, W. Hönig, V. N. Hartmann, M. Toussaint, L. Righetti, "iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization," in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct, 2024.

2023

  1. K. Pfeiffer, A. Escande, L. Righetti, "NIPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs," Optimization and Engineering, Aug, 2023.
  2. M. Khadiv, A. Meduri, H. Zhu, L. Righetti, B. Scholkopf, "Learning Locomotion Skills from MPC in Sensor Space," in Proceedings of The 5th Annual Learning for Dynamics and Control Conference, pp. 1218–1230, 2023.
  3. H. Zhu, A. Meduri, L. Righetti, "Efficient Object Manipulation Planning with Monte Carlo Tree Search," in IEEE International Conference on Intelligent Robots and Systems, 2023.
  4. A. Meduri, P. Shah, J. Viereck, M. Khadiv, I. Havoutis, L. Righetti, "BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning," IEEE Transactions on Robotics, vol. 39, no. 2, pp. 905–922, Apr, 2023.
  5. V. Dhédin, H. Li, S. Khorshidi, L. Mack, A. K. C. Ravi, A. Meduri, P. Shah, F. Grimminger, L. Righetti, M. Khadiv, J. Stueckler, "Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion," in 2023 IEEE-RAS International Conference on Robotics and Automation (ICRA), May, 2023.
  6. S. Khorshidi, A. Gazar, N. Rotella, M. Naveau, L. Righetti, M. Bennewitz, M. Khadiv, "On the Use of Torque Measurement in Centroidal State Estimation," in 2023 IEEE-RAS International Conference on Robotics and Automation (ICRA), May, 2023.
  7. A. Meduri, H. Zhu, A. Jordana, L. Righetti, "MPC with Sensor-Based Online Cost Adaptation," in 2023 IEEE-RAS International Conference on Robotics and Automation (ICRA), May, 2023.
  8. K. Pfeiffer, Y. Jia, M. Yin, A. K. Veldanda, Y. Hu, A. Trivedi, J. Zhang, S. Garg, E. Erkip, S. Rangan, L. Righetti, "Path Planning Under Uncertainty to Localize mmWave Sources," in 2023 IEEE-RAS International Conference on Robotics and Automation (ICRA), May, 2023.
  9. W. Han, H. Wu, E. Hirota, A. Gao, L. Pinto, L. Righetti, C. Feng, "Learning Simultaneous Navigation and Construction in Grid Worlds," in The Eleventh International Conference on Learning Representations, 2023.

2022

  1. S. Kleff, E. Dantec, G. Saurel, N. Mansard, L. Righetti, "Introducing Force Feedback in Model Predictive Control," in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct, 2022.
  2. M. Bogdanovic, M. Khadiv, L. Righetti, "Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization," Frontiers in Robotics and AI, 2022.
  3. A. Gazar, M. Khadiv, S. Kleff, A. Del Prete, L. Righetti, "Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots," in International Symposium of Robotic Research, 2022.
  4. B. Hammoud, A. Jordana, L. Righetti, "iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations," in American Control Conference, 2022.
  5. A. Jordana, B. Hammoud, L. Righetti, "Stagewise Newton Method for Dynamic Game Control with Imperfect State Observation," IEEE Control Systems Letters, vol. 6, pp. 3241–3246, 2022.
  6. S. Kleff, N. Mansard, L. Righetti, "On the Derivation of the Contact Dynamics in Arbitrary Frames (Application to Polishing with Talos)," in IEEE-RAS International Conference on Humanoid Robots, 2022.
  7. M. H. Yeganegi, M. Khadiv, A. Del Prete, S. A. A. Moosavian, L. Righetti, "Robust walking based on MPC with viability-based feasibility guarantees," IEEE Transactions on Robotics, vol. 38, no. 4, pp. 2389–2404, 2022.
  8. M. Yin, A. K. Veldanda, A. Trivedi, J. Zhang, K. Pfeiffer, Y. Hu, S. Garg, E. Erkip, L. Righetti, S. Rangan, "Millimeter Wave Wireless Assisted Robot Navigation with Link State Classification," IEEE Open Journal of the Communications Society, vol. 3, pp. 493–507, 2022.
  9. B. Hammoud, L. Oliveri, L. Righetti, J. Carpentier, A. Del Prete, "Exponential Integration for Efficient and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts," Multibody System Dynamics, vol. 54, pp. 443–460, Apr, 2022.
  10. J. Viereck, A. Meduri, L. Righetti, "ValueNetQP: Learned one-step optimal control for legged locomotion," in Proceedings of The 4th Annual Learning for Dynamics and Control Conference, pp. 931–942, Jun, 2022.
  11. S. Bechtle, L. Righetti, F. Meier, "Model Based Meta Learning of Critics for Policy Gradients," , no. arXiv:2204.02210, 2022.

2021

  1. M. Ghoddousi Boroujeni, E. Daneshmand, L. Righetti, M. Khadiv, "A unified framework for walking and running of bipedal robots," in 2021 20th International Conference on Advanced Robotics (ICAR), Dec, 2021.
  2. A. Jordana, J. Carpentier, L. Righetti, "Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting," , no. arXiv:2106.11712, 2021.
  3. A. Marco, D. Baumann, M. Khadiv, P. Hennig, L. Righetti, S. Trimpe, "Robot Learning with Crash Constraints," IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1439–1446, 2021.
  4. K. Pfeiffer, L. Righetti, "NIPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control," , no. arXiv:2109.03338, 2021.
  5. P. Shah, A. Meduri, W. Merkt, M. Khadiv, I. Havoutis, L. Righetti, "Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent," in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021.
  6. S. Bechtle, A. Molchanov, Y. Chebotar, E. Grefenstette, L. Righetti, G. S. Sukhatme, F. Meier, "Meta-learning via learned loss," in 25th International Conference on Pattern Recognition, Jan, 2021.
  7. H. Choi, C. Crump, C. Duriez, A. Elmquist, G. Hager, D. Han, F. Hearl, J. Hodgins, A. Jain, F. Leve, C. Li, F. Meier, D. Negrut, L. Righetti, A. Rodriguez, J. Tan, J. Trinkle, "On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward," Proceedings of the National Academy of Sciences, vol. 118, no. 1, pp. e1907856118, Jan, 2021.
  8. B. Ponton, M. Khadiv, A. Meduri, L. Righetti, "Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics," IEEE Transactions on Robotics, vol. 37, no. 5, pp. 1661–1679, Feb, 2021.
  9. E. Daneshmand, M. Khadiv, F. Grimminger, L. Righetti, "Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control," IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2349–2356, Apr, 2021.
  10. S. Bechtle, B. Hammoud, A. Rai, F. Meier, L. Righetti, "Leveraging Forward Model Prediction Error for Learning Control," in 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), May, 2021.
  11. S. Kleff, A. Meduri, R. Budhiraja, N. Mansard, L. Righetti, "High-Frequency Nonlinear Model Predictive Control of a Manipulator," in 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), May, 2021.
  12. A. Meduri, M. Khadiv, L. Righetti, "DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain," in 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), May, 2021.
  13. J. Viereck, L. Righetti, "Learning a Centroidal Motion Planner for Legged Locomotion," in 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), May, 2021.
  14. A. Gazar, M. Khadiv, A. Del Prete, L. Righetti, "Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance," in 2021 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Jul, 2021.
  15. B. Hammoud, M. Khadiv, L. Righetti, "Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control," IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4766–4773, Jul, 2021.
  16. L. Righetti, J. Buchli, A. Ijspeert, "Slow-fast dynamics of strongly coupled adaptive frequency oscillators," SIAM Journal on Applied Dynamical Systems, vol. 20, no. 4, pp. 1985–2012, Oct, 2021.
  17. T. Flayols, A. Del Prete, M. Khadiv, N. Mansard, L. Righetti, "Reactive Balance Control for Legged Robots under Visco-Elastic Contacts," Applied Sciences, vol. 11, no. 1, pp. 353, 2021.

2020

  1. H. Zhu, M. Sharma, K. Pfeiffer, M. Mezzavilla, J. Shen, S. Rangan, L. Righetti, "Enabling Remote Whole-Body Control with 5G Edge Computing," in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct, 2020.
  2. O. Stasse, L. Righetti, "Whole-Body Manipulation," pp. 1–9, 2020.
  3. M. Wüthrich, F. Widmaier, F. Grimminger, J. Akpo, S. Joshi, V. Agrawal, B. Hammoud, M. Khadiv, M. Bogdanovic, V. Berenz, J. Viereck, M. Naveau, L. Righetti, B. Schölkopf, S. Bauer, "TriFinger: An Open-Source Robot for Learning Dexterity," in Proceedings of the Conference on Robot Learning, 2020.
  4. F. Grimminger, A. Meduri, M. Khadiv, J. Viereck, M. Wüthrich, M. Naveau, V. Berenz, S. Heim, F. Widmaier, T. Flayols, J. Fiene, A. Badri-Spröwitz, L. Righetti, "An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research," IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3655–3662, Apr, 2020.
  5. M. Khadiv, A. Herzog, S. A. A. Moosavian, L. Righetti, "Walking Control Based on Step Timing Adaptation," IEEE Transactions on Robotics, vol. 36, no. 3, pp. 629–643, Apr, 2020.
  6. Y. Lin, L. Righetti, D. Berenson, "Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction," IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2451–2458, Apr, 2020.
  7. D. Agudelo-España, A. Zadaianchuk, P. Wenk, A. Garg, J. Akpo, F. Grimminger, J. Viereck, M. Naveau, L. Righetti, G. Martius, A. Krause, B. Schölkopf, S. Bauer, M. Wüthrich, "A Real-Robot Dataset for Evaluating Transferability of Dynamics Learning Methods," in 2020 IEEE-RAS International Conference on Robotics and Automation (ICRA), pp. 8151–8157, May, 2020.
  8. C. Mastalli, R. Budhiraja, W. Merkt, G. Saurel, B. Hammoud, M. Naveau, J. Carpentier, L. Righetti, S. Vijayakumar, N. Mansard, "Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control," in 2020 IEEE-RAS International Conference on Robotics and Automation (ICRA), pp. 2536–2542, May, 2020.
  9. M. Bogdanovic, M. Khadiv, L. Righetti, "Learning Variable Impedance Control for Contact Sensitive Tasks," IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6129–6136, 2020.

2019

  1. L. Righetti, T. Sugihara, G. Metta, K. Yamane, "Growing the Humanoid Robotics Community [TC Spotlight]," IEEE Robotics & Automation Magazine, vol. 26, no. 4, pp. 136–137, Dec, 2019.
  2. H. Merzic, M. Bogdanovic, D. Kappler, L. Righetti, J. Bohg, "Leveraging Contact Forces for Learning to Grasp," in 2019 IEEE International Conference on Robotics and Automation (ICRA), pp. 3615–3621, May, 2019.
  3. J. Rebula, S. Schaal, J. Finley, L. Righetti, "A Robustness Analysis of Inverse Optimal Control of Bipedal Walking," IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4531–4538, Aug, 2019.
  4. P. Schmidt, M. Blessing, M. Rageot, R. Iovita, J. Pfleging, K. G. Nickel, L. Righetti, C. Tennie, "Birch tar production does not prove Neanderthal behavioral complexity," Proceedings of the National Academy of Sciences, vol. 116, no. 36, pp. 17707–17711, Aug, 2019.
  5. L. Righetti, R. Madhavan, R. Chatila, "Unintended Consequences of Biased Robotic and Artificial Intelligence Systems [Ethical, Legal, and Societal Issues]," IEEE Robotics & Automation Magazine, vol. 26, no. 3, pp. 11–13, Sep, 2019.
  6. M. Yeganegi, M. Khadiv, S. A. A. Moosavian, J. Zhu, A. Del Prete, L. Righetti, "Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning," in IEEE-RAS International Conference on Humanoid Robots, pp. 186–193, Oct, 2019.
  7. S. Bechtle, Y. Lin, A. Rai, L. Righetti, F. Meier, "Curious iLQR: Resolving Uncertainty in Model-based RL," in Proceedings of the Conference on Robot Learning, pp. 162–171, Nov, 2019.
  8. M. Bogdanovic, L. Righetti, "Learning to Explore in Motion and Interaction Tasks," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov, 2019.
  9. T. Bretl, L. Righetti, R. Madhavan, "Epstein, Project Maven, and Some Reasons to Think About Where We Get Our Funding [Ethical, Legal, and Societal Issues]," IEEE Robotics & Automation Magazine, vol. 26, no. 4, pp. 8–13, Dec, 2019.
  10. Y. Lin, B. Ponton, L. Righetti, D. Berenson, "Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction," in 2019 IEEE International Conference on Robotics and Automation (ICRA), pp. 5280–5286, May, 2019.

2018

  1. A. Gams, S. Mason, A. Ude, S. Schaal, L. Righetti, "Learning Task-Specific Dynamics to Improve Whole-Body Control," in 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Nov, 2018.
  2. S. Mason, N. Rotella, S. Schaal, L. Righetti, "An MPC Walking Framework With External Contact Forces," in 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 1785–1790, May, 2018.
  3. B. Ponton, A. Herzog, A. Del Prete, S. Schaal, L. Righetti, "On Time Optimization of Centroidal Momentum Dynamics," in 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 5776–5782, May, 2018.
  4. N. Rotella, S. Schaal, L. Righetti, "Unsupervised Contact Learning for Humanoid Estimation and Control," in 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 411–417, May, 2018.
  5. Q. Pham, R. Madhavan, L. Righetti, W. Smart, R. Chatila, "The Impact of Robotics and Automation on Working Conditions and Employment [Ethical, Legal, and Societal Issues]," IEEE Robotics and Automation Magazine, vol. 25, no. 2, pp. 126–128, Jun, 2018.
  6. M. Al Borno, L. Righetti, M. J. Black, S. L. Delp, E. Fiume, "Robust Physics-based Motion Retargeting with Realistic Body Shapes," Computer Graphics Forum, vol. 37, no. 8, pp. 81–92, Jul, 2018.
  7. J. Viereck, J. Kozolinsky, A. Herzog, L. Righetti, "Learning a Structured Neural Network Policy for a Hopping Task.," IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 4092–4099, Oct, 2018.
  8. L. Righetti, Q. Pham, R. Madhavan, R. Chatila, "Lethal Autonomous Weapon Systems [Ethical, Legal, and Societal Issues]," IEEE Robotics & Automation Magazine, vol. 25, no. 1, pp. 123–126, Mar, 2018.

2017

  1. L. Righetti, A. Herzog, "Momentum-Centered Control of Contact Interactions," pp. 339–359, 2017.
  2. M. Khadiv, S. A. A. Moosavian, A. Herzog, L. Righetti, "Pattern Generation for Walking on Slippery Terrains," in 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), Aug, 2017.
  3. F. L. Moro, L. Sentis, J. Park, C. G. Atkeson, M. Gienger, A. Goswami, S. Kajita, O. Khatib, J. Kuffner, D. E. Orin, C. Ott, J. E. Pratt, L. Righetti, B. Siciliano, R. Tedrake, E. Yoshida, "Whole-Body Control [TC Spotlight]," IEEE Robotics & Automation Magazine, vol. 24, no. 3, pp. 12–14, Sep, 2017.

Older publications (pre 2017)

  1. A. Herzog, N. Rotella, S. Mason, F. Grimminger, S. Schaal, L. Righetti, "Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid," Autonomous Robots, vol. 40, no. 3, pp. 473–491, Mar, 2016.
  2. N. Rotella, S. Mason, S. Schaal, L. Righetti, "Inertial Sensor-Based Humanoid Joint State Estimation," in 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 1825–1831, May, 2016.
  3. A. Herzog, S. Schaal, L. Righetti, "Structured contact force optimization for kino-dynamic motion generation," in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2703–2710, Oct, 2016.
  4. M. Khadiv, S. Kleff, A. Herzog, S. A. A. Moosavian, S. Schaal, L. Righetti, "Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment," in 2016 4th International Conference on Robotics and Mechatronics (ICROM), pp. 130–135, Oct, 2016.
  5. M. Khadiv, A. Herzog, S. A. A. Moosavian, L. Righetti, "Step Timing Adjustement: a Step toward Generating Robust Gaits," in 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pp. 35–42, Nov, 2016.
  6. S. Mason, N. Rotella, S. Schaal, L. Righetti, "Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints," in 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pp. 63–68, Nov, 2016.
  7. B. Ponton, A. Herzog, S. Schaal, L. Righetti, "A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation," in 2016 IEEE-RAS 16th International Conference on Humanoid Robots Humanoids, pp. 842–849, Nov, 2016.
  8. B. Ponton, S. Schaal, L. Righetti, "On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions," in Algorithmic Foundations of Robotics XII: Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics, pp. 784–799, 2016.
  9. N. Rotella, A. Herzog, S. Schaal, L. Righetti, "Humanoid Momentum Estimation Using Sensed Contact Wrenches," in 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp. 556–563, 2015.
  10. L. Righetti, A. Nylen, K. Rosander, A. Ijspeert, "Kinematic and gait similarities between crawling human infants and other quadruped mammals," Frontiers in Neurology, vol. 6, no. 17, Feb, 2015.
  11. A. Herzog, N. Rotella, S. Schaal, L. Righetti, "Trajectory generation for multi-contact momentum control," in 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp. 874–880, 2015.
  12. M. Toussaint, N. Ratliff, J. Bohg, L. Righetti, P. Englert, S. Schaal, "Dual Execution of Optimized Contact Interaction Trajectories," in 2014 IEEE/RSJ Conference on Intelligent Robots and Systems, pp. 47–54, 2014.
  13. L. Righetti, M. Kalakrishnan, P. Pastor, J. Binney, J. Kelly, R. C. Voorhies, G. S. Sukhatme, S. Schaal, "An autonomous manipulation system based on force control and optimization," Autonomous Robots, vol. 36, no. 1–2, pp. 11–30, Jan, 2014.
  14. A. Herzog, P. Pastor, M. Kalakrishnan, L. Righetti, J. Bohg, T. Asfour, S. Schaal, "Learning of grasp selection based on shape-templates," Autonomous Robots, vol. 36, no. 1–2, pp. 51–65, Jan, 2014.
  15. N. Rotella, M. Bloesch, L. Righetti, S. Schaal, "State Estimation for a Humanoid Robot," in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 952–958, 2014.
  16. S. Mason, L. Righetti, S. Schaal, "Full Dynamics LQR Control of a Humanoid Robot: An Experimental Study on Balancing and Squatting," in 2014 IEEE-RAS International Conference on Humanoid Robots, pp. 374–379, 2014.
  17. A. Herzog, L. Righetti, F. Grimminger, P. Pastor, S. Schaal, "Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics," in 2014 IEEE/RSJ Conference on Intelligent Robots and Systems, pp. 981–988, 2014.
  18. R. Gregg, L. Righetti, "Controlled Reduction with Unactuated Cyclic Variables: Application to 3D Bipedal Walking with Passive Yaw Rotation," IEEE Transactions on Automatic Control, vol. 58, no. 10, pp. 2679–2685, Oct, 2013.
  19. L. Righetti, J. Buchli, M. Mistry, M. Kalakrishnan, S. Schaal, "Optimal distribution of contact forces with inverse-dynamics control," The International Journal of Robotics Research, vol. 32, no. 3, pp. 280–298, Mar, 2013.
  20. L. Righetti, J. Buchli, M. Mistry, M. Kalakrishnan, S. Schaal, "Using Torque Redundancy to Optimize Contact Forces in Legged Robots," pp. 35–51, 2013.
  21. M. Hutter, M. Bloesch, J. Buchli, C. Semini, S. Bazeille, L. Righetti, J. Bohg, "AGILITY – Dynamic Full Body Locomotion and Manipulation with Autonomous Legged Robots," in 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 1–4, 2013.
  22. P. Pastor, M. Kalakrishnan, J. Binney, J. Kelly, L. Righetti, G. S. Sukhatme, S. Schaal, "Learning Task Error Models for Manipulation," in 2013 IEEE Conference on Robotics and Automation, 2013.
  23. M. Kalakrishnan, P. Pastor, L. Righetti, S. Schaal, "Learning Objective Functions for Manipulation," in 2013 IEEE International Conference on Robotics and Automation, 2013.
  24. M. Kalakrishnan, L. Righetti, P. Pastor, S. Schaal, "Learning Force Control Policies for Compliant Robotic Manipulation," in ICML’12 Proceedings of the 29th International Coference on International Conference on Machine Learning, pp. 49–50, 2012.
  25. L. Righetti, S. Schaal, "Quadratic programming for inverse dynamics with optimal distribution of contact forces," in 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pp. 538–543, Nov, 2012.
  26. P. Pastor, M. Kalakrishnan, L. Righetti, S. Schaal, "Towards Associative Skill Memories," in 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pp. 309–315, Nov, 2012.
  27. J. Ernesti, L. Righetti, M. Do, T. Asfour, S. Schaal, "Encoding of Periodic and their Transient Motions by a Single Dynamic Movement Primitive," in 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pp. 57–64, Nov, 2012.
  28. M. Wüthrich, P. Pastor, L. Righetti, A. Billard, S. Schaal, "Probabilistic depth image registration incorporating nonvisual information," in 2012 IEEE International Conference on Robotics and Automation, pp. 3637–3644, 2012.
  29. A. Herzog, P. Pastor, M. Kalakrishnan, L. Righetti, T. Asfour, S. Schaal, "Template-based learning of grasp selection," in 2012 IEEE International Conference on Robotics and Automation, pp. 2379–2384, 2012.
  30. S. Degallier, L. Righetti, S. Gay, A. Ijspeert, "Toward simple control for complex, autonomous robotic applications: combining discrete and rhythmic motor primitives," Autonomous Robots, vol. 31, no. 2–3, pp. 155–181, Oct, 2011.
  31. L. Righetti, J. Buchli, M. Mistry, S. Schaal, "Inverse Dynamics Control of Floating-Base Robots with External Constraints: a Unified View," in 2011 IEEE International Conference on Robotics and Automation, pp. 1085–1090, 2011.
  32. L. Righetti, J. Buchli, M. Mistry, S. Schaal, "Control of legged robots with optimal distribution of contact forces," in 2011 11th IEEE-RAS International Conference on Humanoid Robots, pp. 318–324, 2011.
  33. M. Mistry, L. Righetti, "Operational Space Control of Constrained and Underactuated Systems," in Proceedings of Robotics: Science and Systems, Jun, 2011.
  34. M. Kalakrishnan, L. Righetti, P. Pastor, S. Schaal, "Learning Force Control Policies for Compliant Manipulation," in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4639–4644, Sep, 2011.
  35. P. Pastor, L. Righetti, M. Kalakrishnan, S. Schaal, "Online movement adaptation based on previous sensor experiences," in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 365–371, Sep, 2011.
  36. F. Stulp, E. Theodorou, M. Kalakrishnan, P. Pastor, L. Righetti, S. Schaal, "Learning Motion Primitive Goals for Robust Manipulation," in IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 325–331, Sep, 2011.
  37. L. Righetti, J. Buchli, M. Mistry, S. Schaal, "Inverse dynamics with optimal distribution of ground reaction forces for legged robot," in Proceedings of the 13th International Conference on Climbing and Walking Robots (CLAWAR), pp. 580–587, Sep, 2010.
  38. R. Gregg, L. Righetti, J. Buchli, S. Schaal, "Constrained Accelerations for Controlled Geometric Reduction: Sagittal-Plane Decoupling for Bipedal Locomotion," in 2010 10th IEEE-RAS International Conference on Humanoid Robots, pp. 1–7, 2010.
  39. M. Daley, L. Righetti, A. Ijspeert, "Modelling the interplay of central pattern generation and sensory feedback in the neuromuscular control of running," in Comparative Biochemistry and Physiology - Part A: Molecular & Integrative Physiology. Annual Main Meeting for the Society for Experimental Biology, 2009.
  40. L. Righetti, J. Buchli, A. Ijspeert, "Adaptive Frequency Oscillators and Applications," The Open Cybernetics & Systemics Journal, vol. 3, pp. 64–69, 2009.
  41. S. Degallier, L. Righetti, L. Natale, F. Nori, G. Metta, A. Ijspeert, "A modular bio-inspired architecture for movement generation for the infant-like robot iCub," in 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 795–800, Oct, 2008.
  42. L. Matthey, L. Righetti, A. Ijspeert, "Experimental Study of Limit Cycle and Chaotic Controllers for the Locomotion of Centipede Robots," in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1860–1865, Sep, 2008.
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  44. L. Righetti, "Control of locomotion using dynamical systems: design methods and adaptive frequency oscillators," Nov, 2008.
  45. S. Rutishauser, A. Sproewitz, L. Righetti, A. Ijspeert, "Passive compliant quadruped robot using central pattern generators for locomotion control," in 2008 IEEE International Conference on Biomedical Robotics and Biomechatronics, pp. 710–715, Oct, 2008.
  46. A. Gams, L. Righetti, A. Ijspeert, J. Lenarčič, "A Dynamical System for Online Learning of Periodic Movements of Unknown Waveform and Frequency," in 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 85–90, Oct, 2008.
  47. L. Righetti, A. Ijspeert, "Pattern generators with sensory feedback for the control of quadruped locomotion," in 2008 IEEE International Conference on Robotics and Automation, pp. 819–824, 2008.
  48. N. Tsagarakis, F. Becchi, L. Righetti, A. Ijspeert, D. Caldwell, "Lower body realization of the baby humanoid - ‘iCub’," in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3616–3622, 2007.
  49. S. Degallier, L. Righetti, A. Ijspeert, "Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach," in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2047–2052, 2007.
  50. N. Tsagarakis, G. Metta, G. Sandini, D. Vernon, R. Beira, F. Becchi, L. Righetti, J. Santos-Victor, A. Ijspeert, M. Carrozza, D. Caldwell, "iCub - The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research," Advanced Robotics, vol. 21, no. 10, pp. 1151–1175, 2007.
  51. L. Righetti, A. Ijspeert, "Programmable central pattern generators: an application to biped locomotion control," in Proceedings of the IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp. 1585–1590, May, 2006.
  52. S. Degallier, C. P. Santos, L. Righetti, A. Ijspeert, "Movement generation using dynamical systems : a humanoid robot performing a drumming task," in 2006 6th IEEE-RAS International Conference on Humanoid Robots, pp. 512–517, 2006.
  53. L. Righetti, J. Buchli, A. Ijspeert, "Dynamic Hebbian learning in adaptive frequency oscillators," Physica D: Nonlinear Phenomena, vol. 216, no. 2, pp. 269–281, Apr, 2006.
  54. J. Buchli, L. Righetti, A. Ijspeert, "Engineering Entrainment and Adaptation in Limit Cycle Systems – From biological inspiration to applications in robotics," Biological Cybernetics, vol. 95, no. 6, pp. 645–664, Dec, 2006.
  55. L. Righetti, A. Ijspeert, "Design methodologies for central pattern generators: an application to crawling humanoids," in Proceedings of Robotics: Science and Systems, Aug, 2006.
  56. J. Buchli, L. Righetti, A. Ijspeert, "A dynamical systems approach to learning: a frequency-adaptive hopper robot," in Proceedings of the VIIIth European Conference on Artificial Life ECAL 2005, pp. 210–220, 2005.
  57. L. Righetti, J. Buchli, A. Ijspeert, "From Dynamic Hebbian Learning for Oscillators to Adaptive Central Pattern Generators," in Proceedings of 3rd International Symposium on Adaptive Motion in Animals and Machines – AMAM 2005, 2005.
  58. M. Vuletic, L. Righetti, L. Pozzi, P. Ienne, "Operating system support for interface virtualisation of reconfigurable coprocessors," in In Proceedings of the Design, Automation and Test in Europe Conference and Exhibition, pp. 748–749, 2004.
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