Francesco Ruscelli
Papers
10
Total Citations
131
H-Index
6
About
Francesco Ruscelli is a roboticist whose work centers on multi-contact loco-manipulation, whole-body control, and trajectory optimization for highly articulated robots. His major contributions include developing planning and control frameworks that enable humanoid and snake-like robots to perform complex, force-intensive tasks—such as pushing heavy objects using multiple external contacts—and to navigate unstructured environments with reduced computational cost. His most cited paper, "Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot" (44 citations), demonstrates a complete real-world system for demanding manipulation. He also created Horizon, an open-source trajectory optimization framework that simplifies dynamic motion generation for diverse robotic platforms. Ruscelli’s impact spans torque-controlled humanoid locomotion, modular reconfigurable robots for construction (CONCERT), and space manipulators (MARM). His work on shape-based compliant control and fail-safe impedance controllers for parallel kinematics ankles further showcases his commitment to safe, practical robot design. With over 130 total citations, Ruscelli is advancing the frontier of robots that can physically interact with and adapt to complex, real-world environments.
Research Focus
Key Achievements
Top Papers
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- 4Horizon: A Trajectory Optimization Framework for Robotic Systems17 citations · 2022
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- 6Proprioceptive-Inertial Autonomous Locomotion for Articulated Robots8 citations · 2018
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- 9CONCERT: A Modular Reconfigurable Robot for Construction2 citations · 2025
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