Publications

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

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

Preprints

  1. A. Bratta, A. Meduri, M. Focchi, L. Righetti, C. Semini, "ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion," , no. arXiv:2209.15566, Mar, 2023.
  2. H. Zhu, A. Meduri, L. Righetti, "Efficient Object Manipulation Planning with Monte Carlo Tree Search," , no. arXiv:2206.09023, Mar, 2023.
  3. S. Bechtle, L. Righetti, F. Meier, "Model Based Meta Learning of Critics for Policy Gradients," , no. arXiv:2204.02210, Apr, 2022.
  4. A. Jordana, J. Carpentier, L. Righetti, "Learning Dynamical Systems from Noisy Sensor Measurements using Multiple Shooting," , no. arXiv:2106.11712, Jun, 2021.
  5. K. Pfeiffer, A. Escande, L. Righetti, "NIPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs," , no. arXiv:2106.13602, Jun, 2021.
  6. K. Pfeiffer, L. Righetti, "NIPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control," , no. arXiv:2109.03338, Sep, 2021.

2023

  1. 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.
  2. 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.
  3. 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.
  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, pp. 1–18, 2023.
  5. 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.
  6. 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.

2022

  1. 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.
  2. 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.
  3. B. Hammoud, A. Jordana, L. Righetti, "iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations," in American Control Conference, 2022.
  4. 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.
  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, 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.
  7. 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.
  8. 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.
  9. 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.
  10. M. Bogdanovic, M. Khadiv, L. Righetti, "Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization," Frontiers in Robotics and AI, 2022.

2021

  1. 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.
  2. 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.
  3. 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.
  4. 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.
  5. 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. 11, pp. 353, 2021.
  6. 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.
  7. 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.
  8. 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.
  9. 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.
  10. 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.
  11. 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.
  12. 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.
  13. 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.
  14. 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.
  15. 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.

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. 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.
  3. 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.
  4. 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.
  5. 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.
  6. 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.
  7. O. Stasse, L. Righetti, "Whole-Body Manipulation," pp. 1–9, 2020.
  8. 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.
  9. 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.

2019

  1. 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.
  2. M. Bogdanovic, L. Righetti, "Learning to Explore in Motion and Interaction Tasks," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov, 2019.
  3. 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.
  4. 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.
  5. 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.
  6. 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.
  7. 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.
  8. 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.
  9. 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.
  10. 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.

2018

  1. 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.
  2. 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.
  3. 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.
  4. 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.
  5. 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.
  6. 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.
  7. 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.
  8. 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.

2017

  1. 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.
  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. L. Righetti, A. Herzog, "Momentum-Centered Control of Contact Interactions," pp. 339–359, 2017.

Older publications (pre 2017)

  1. 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.
  2. 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.
  3. 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.
  4. 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.
  5. 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.
  6. 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.
  7. 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.
  8. 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.
  9. 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.
  10. 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.
  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. 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.
  13. 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.
  14. 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.
  15. 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.
  16. 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.
  17. 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.
  18. 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.
  19. L. Righetti, J. Buchli, M. Mistry, M. Kalakrishnan, S. Schaal, "Using Torque Redundancy to Optimize Contact Forces in Legged Robots," pp. 35–51, 2013.
  20. 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.
  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. M. Kalakrishnan, P. Pastor, L. Righetti, S. Schaal, "Learning Objective Functions for Manipulation," in 2013 IEEE International Conference on Robotics and Automation, 2013.
  23. 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.
  24. 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.
  25. 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.
  26. 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.
  27. 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.
  28. 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.
  29. 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.
  30. 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.
  31. 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.
  32. 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.
  33. 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.
  34. M. Mistry, L. Righetti, "Operational Space Control of Constrained and Underactuated Systems," in Proceedings of Robotics: Science and Systems, Jun, 2011.
  35. 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.
  36. 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.
  37. 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.
  38. 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.
  39. L. Righetti, J. Buchli, A. Ijspeert, "Adaptive Frequency Oscillators and Applications," The Open Cybernetics & Systemics Journal, vol. 3, pp. 64–69, 2009.
  40. 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.
  41. 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.
  42. L. Righetti, "Control of locomotion using dynamical systems: design methods and adaptive frequency oscillators," Nov, 2008.
  43. 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.
  44. 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.
  45. 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.
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