Davide De Benedittis

Publications - Quadrupeds

  • Soft Bilinear Inverted Pendulum: a Model to Enable Locomotion with Soft Contacts

    D De Benedittis, F Angelini, M Garabini
    IEEE Transactions on Systems, Man, and Cybernetics: Systems —

    Model-based two-control-blocks architecture (motion planner and tracking controller) for quadrupedal locomotion in the presence of soft contacts.

    Hierarchical QP Quadrupeds

    Citation

    @article{debenedittis2025soft,
 author={De Benedittis, Davide and Angelini, Franco and Garabini, Manolo},
 journal={IEEE Transactions on Systems, Man, and Cybernetics: Systems}, 
 title={Soft Bilinear Inverted Pendulum: A Model to Enable Locomotion With Soft Contacts}, 
 year={2025},
 volume={55},
 number={2},
 pages={1478-1491},
 doi={10.1109/TSMC.2024.3504342}}

  • Botany Meets Robotics in Alpine Screes Monitoring

    D De Benedittis, …, M Garabini
    IEEE Transactions on Field Robotics —

    Autonomous monitoring framework for alpine screes using a quadrupedal robot equipped with cameras.

    Quadrupeds

    Citation

    @article{debenedittis2025botany,
 author={De Benedittis, Davide and Di Lorenzo, Giovanni and Angelini, Franco and Valle, Barbara and Borgatti, Marina Serena and Remagnino, Paolo and Caccianiga, Marco and Garabini, Manolo},
 journal={IEEE Transactions on Field Robotics}, 
 title={Botany Meets Robotics in Alpine Scree Monitoring}, 
 year={2025},
 volume={},
 number={},
 pages={1-1},
 doi={10.1109/TFR.2025.3632773}}

  • Robotic Monitoring of European Habitats: a Labeled Dataset for Plant Detection in Annex I Habitats of Italy

    G Di Lorenzo, F Angelini, M Pierallini, S Tolomei, D De Benedittis, …, M Garabini
    Scientific Data —

    A labeled image dataset acquired by a quadrupedal robot for plant species detection across Annex I habitats of Italy.

    Quadrupeds

    Citation

    @article{dilorenzo2025robotic,
 author={Di Lorenzo, Giovanni and Angelini, Franco and Pierallini, Michele and Tolomei, Simone and De Benedittis, Davide and Denaro, Agnese and Rivieccio, Giovanni and Caria, Maria Carmela and Bonini, Federica and Grassi, Anna and de Simone, Leopoldo and Fanfarillo, Emanuele and Fiaschi, Tiberio and Maccherini, Simona and Valle, Barbara and Borgatti, Marina Serena and Bagella, Simonetta and Gigante, Daniela and Angiolini, Claudia and Caccianiga, Marco and Garabini, Manolo},
 journal={Scientific Data}, 
 title={Robotic monitoring of European habitats: a labeled dataset for plant detection in Annex I habitats of Italy}, 
 year={2025},
 volume={12},
 number={1},
 pages={822},
 doi={10.1038/s41597-025-05182-7}}

  • A Reproducible Benchmarking Methodology to Assess Robotic Locomotion Over Irregular Terrains: A Practical and Scalable Approach

    D Rodriguez-Cianca, P Sendin, G Alfonso, D De Benedittis, …, D Torricelli
    IEEE Robotics & Automation Magazine —

    A modular, replicable testbed, standardized protocol, and performance indicators to objectively benchmark legged locomotion over irregular and sloped terrains.

    Quadrupeds

    Citation

    @article{rodriguezcianca2025reproducible,
 author={Rodriguez-Cianca, David and Sendin, Paulino and Alfonso, Giuseppe and De Benedittis, Davide and Tolomei, Simone and Angelini, Franco and Garabini, Manolo and Torricelli, Diego},
 journal={IEEE Robotics \& Automation Magazine}, 
 title={A Reproducible Benchmarking Methodology to Assess Robotic Locomotion Over Irregular Terrains: A Practical and Scalable Approach}, 
 year={2025},
 volume={},
 number={},
 pages={2-12},
 doi={10.1109/MRA.2025.3631570}}