Papers
34
Total Citations
1,005
H-Index
13
About
Thiago Boaventura is a leading roboticist whose work centers on the control of dynamic, torque-controlled legged robots, with a particular focus on hydraulic actuation and impedance control. His major contributions lie in developing the theoretical and practical frameworks that enable highly dynamic and versatile locomotion in platforms like the quadruped robot HyQ. Boaventura pioneered model-based hydraulic impedance control, demonstrating how to precisely manage the interaction forces between a robot and its environment—a critical capability for traversing unstructured terrain. His seminal 2015 paper on this topic has garnered over 175 citations, while his foundational 2012 work on dynamic torque control for hydraulic quadrupeds has been cited more than 157 times. By addressing the stability and performance of compliance controllers, and analyzing the passivity of nested control loops, he has provided essential tools for building robots that are both fast and safe. Boaventura’s research has also extended into wearable robotics, where he introduced an acceleration-based transparency control framework. His work is instrumental in bridging the gap between theoretical control and robust, real-world robotic performance.
Research Focus
Key Achievements
Top Papers
- 1Towards versatile legged robots through active impedance control175 citations · 2015
- 2Dynamic torque control of a hydraulic quadruped robot157 citations · 2012
- 3Model-Based Hydraulic Impedance Control for Dynamic Robots128 citations · 2015
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- 6On the role of load motion compensation in high-performance force control67 citations · 2012
- 7Model-Based Hydraulic Impedance Control for Dynamic Robots58 citations · 2015
- 8Control of a hydraulically-actuated quadruped robot leg30 citations · 2010
- 9Torque-control based compliant actuation of a quadruped robot28 citations · 2012
- 10Acceleration-based transparency control framework for wearable robots18 citations · 2016