Marco Frigerio
Papers
23
Total Citations
1,347
H-Index
17
About
Marco Frigerio is a prominent robotics researcher whose work sits at the intersection of legged locomotion, hydraulic actuation, and advanced robot control. Best known for his contributions to the HyQ family of quadruped robots at the Istituto Italiano di Tecnologia, Frigerio has helped shape how modern legged robots navigate unstructured, real-world environments. His 2016 paper on HyQ2Max (261 citations) established new benchmarks for rugged, hydraulically actuated quadrupeds, while his earlier work on dynamic torque control (157 citations) laid crucial groundwork for high-performance force regulation in legged platforms. Frigerio's research spans reactive locomotion controllers for challenging terrain (167 citations), impedance control frameworks (175 citations), and highly integrated hydraulic smart actuators (74 citations), collectively demonstrating a systems-level approach to robot design and control. Notably, his 2017 work on automatic differentiation of rigid body dynamics (54 citations) bridges robotics and computational mathematics, enabling more efficient optimization and estimation pipelines. Across his portfolio, Frigerio has consistently pushed the boundaries of what hydraulic legged robots can achieve in terms of agility, robustness, and versatility, making his work essential reading for researchers in autonomous mobile robotics and physical human-robot interaction.
Research Focus
Key Achievements
Top Papers
- 1Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max261 citations · 2016
- 2Towards versatile legged robots through active impedance control175 citations · 2015
- 3
- 4Dynamic torque control of a hydraulic quadruped robot157 citations · 2012
- 5
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- 7On the role of load motion compensation in high-performance force control67 citations · 2012
- 8
- 9Slip Detection and Recovery for Quadruped Robots40 citations · 2017
- 10