S.  Manara, Gasparri, G. M., Garabini, M., Caporale, D., Gabiccini, M., and Bicchi, A., ?Analysis of series elasticity in locomotion of a planar bipedal robot?,  INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL, 2019. 

A.  Bicchi, Catalano, M. G., Piazza, C., Grioli, G., C. Della Santina,, and Garabini, M., ?Artificial hand?,  16/3022272019 [Online]. Available: https://patentimages.storage.googleapis.com/4f/2c/07/915e9723cfe164/US20190269528A1.pdf

A.  Di Lallo, Catalano, M. G., Garabini, M., Grioli, G., Gabiccini, M., and Bicchi, A., ?Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots?, Frontiers in Robotics and AI, 2019. 

D.  Mura, C. Della Santina,, Piazza, C., Frizza, I., Morandi, C., Garabini, M., Grioli, G., and Catalano, M. G., ?Exploiting Adaptability in Soft Feet for Sensing Contact Forces?,  IEEE Robotics and Automation Letters, vol. 5, no. 2, 2019 [Online]. Available: https://ieeexplore.ieee.org/document/8894422

M.  Bonilla, C. Della Santina,, Rocchi, A., Luberto, E., Santaera, G., Farnioli, E., Piazza, C., Bonomo, F., Brando, A., Raugi, A., Catalano, M. G., Bianchi, M., Garabini, M., Grioli, G., and Bicchi, A., ?Advanced grasping with the Pisa/IIT softHand?, in Robotic Grasping and Manipulation Challenge , 2018, pp. pp. 19-38. 

F.  Angelini, C. Della Santina,, Garabini, M., Bianchi, M., Gasparri, G. M., Grioli, G., Catalano, M. G., and Bicchi, A., ?Decentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment?, IEEE Transactions on Robotics (T-RO)., vol. Early Access, 2018. 

G. M.  Gasparri, Manara, S., Caporale, D., Averta, G., Bonilla, M., Marino, H., Catalano, M. G., Grioli, G., Bianchi, M., Bicchi, A., and Garabini, M., ?Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints?, IEEE Robotics and Automation Letters, vol. 3, pp. 2299?2306, 2018. 

F.  Negrello, Settimi, A., Caporale, D., Lentini, G., Poggiani, M., Kanoulas, D., Muratore, L., Luberto, E., Santaera, G., Ciarleglio, L., Ermini, L., Pallottino, L., Caldwell, D. G., Tsagarakis, N., Bicchi, A., Garabini, M., and Catalano, M. G., ?Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario?, IEEE Robotics Automation Magazine, pp. 1-1, 2018. 

A.  Di Lallo, Catalano, M. G., Garabini, M., Grioli, G., Gabiccini, M., and Bicchi, A., ?A Novel Approach to Under-Actuated Control of Fluidic Systems?, in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8460859&isnumber=8460178

N. G.  Tsagarakis, Negrello, F., Garabini, M., Choi, W., Baccelliere, L., Loc, V. G., Noorden, J., Catalano, M. G., Ferrati, M., Muratore, L., Kryczka, P., E. Hoffman, M., Settimi, A., Rocchi, A., Margan, A., Cordasco, S., Kanoulas, D., Cardellino, A., Natale, L., Dallali, H., Malzahn, J., Kashiri, N., Varricchio, V., Pallottino, L., Pavan, C., Lee, J., A. Ajoudani, Caldwell, D. G., and Bicchi, A., ?WALK-MAN Humanoid Platform?, in The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, vol. 121, Springer, 2018, pp. 495?548. 

C. Della Santina, Bianchi, M., Grioli, G., Angelini, F., Catalano, M. G., Garabini, M., and Bicchi, A., ?Controlling Soft Robots: Balancing Feedback and Feedforward Elements?, IEEE Robotics and Automation Magazine, vol. 24, no. 3, pp. 75 - 83, 2017 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7930438

F.  Negrello, Catalano, M. G., Garabini, M., Poggiani, M., Caldwell, D. G., Tsagarakis, N. G., and Bicchi, A., ?Design and characterization of a novel high-compliance spring for robots with soft joints?, in IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, Germany, 3-7 July 2017, 2017 [Online]. Available: http://ieeexplore.ieee.org/document/8014029/

S.  Mghames, Laghi, M., C. Della Santina,, Garabini, M., Catalano, M. G., Grioli, G., and Bicchi, A., ?Design, control and validation of the variable stiffness exoskeleton FLExo?, in International Conference on Rehabilitation Robotics (ICORR), London, UK, 17-20 July 2017, 2017, pp. 539 - 546 [Online]. Available: http://ieeexplore.ieee.org/document/8009304/

T.  Marcucci, Garabini, M., Gasparri, G. M., Artoni, A., Gabiccini, M., and Bicchi, A., ?Parametric Trajectory Libraries for Online Motion Planning with Application to Soft Robots?, in 18th International Symposium on Robotics Research, 2017. 

C. Della Santina, Piazza, C., Gasparri, G. M., Bonilla, M., Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A., ?The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots?, IEEE Robotics and Automation Magazine , vol. 24, no. 1, pp. 48 - 56, 2017 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7857692

N. G.  Tsagarakis, Caldwell, D. G., Negrello, F., Choi, W., Baccelliere, L., Loc, V. G., Noorden, J., Muratore, L., Margan, A., Cardellino, A., Natale, L., E. Hoffman, M., Dallali, H., Kashiri, N., Malzahn, J., Lee, J., Kryczka, P., Kanoulas, D., Garabini, M., Catalano, M. G., Ferrati, M., Varricchio, V., Pallottino, L., Pavan, C., Bicchi, A., Settimi, A., Rocchi, A., and A. Ajoudani, ?WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments?, Journal of Field Robotics, vol. 34, no. 4, pp. 1 - 34, 2017 [Online]. Available: http://onlinelibrary.wiley.com/doi/10.1002/rob.21702/epdf

M. G.  Catalano, Grioli, G., Farnioli, E., Serio, A., Bonilla, M., Garabini, M., Piazza, C., Gabiccini, M., and Bicchi, A., ?From Soft to Adaptive Synergies: The Pisa/IIT SoftHand?, in Human and Robot Hands, vol. Springer Series on Touch and Haptic Systems, Springer, 2016. 

F.  Negrello, Garabini, M., Catalano, M. G., Malzahn, J., Caldwell, D. G., Bicchi, A., and Tsagarakis, N. G., ?A Modular Compliant Actuator for Emerging High Performance and  Fall-Resilient Humanoids?, in 15th IEEE RAS Humanoids Conference (HUMANOIDS2015), 2016 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7363567

C.  Piazza, C. Della Santina,, Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A., ?Natural encoding of user intentions in a soft prosthesis using Dynamic Synergies?, in International Workshop on Human-Friendly Robotics, 2016. 

G. M.  Gasparri, Fabiani, F., Garabini, M., Pallottino, L., Catalano, M. G., Grioli, G., Persichini, R., and Bicchi, A., ?Robust Optimization of System Compliance for Physical Interaction in Uncertain Scenarios?, in IEEE International Conference on Humanoid Robots (HUMANOIDS2016), Cancun, Mexico, 15-17 Nov. 2016 , 2016 [Online]. Available: http://ieeexplore.ieee.org/document/7803381/

M.  Garabini, C. Della Santina,, Bianchi, M., Catalano, M. G., Grioli, G., and Bicchi, A., ?Soft Robots that Mimic the Neuromusculoskeletal System?, in 3rd International Conference on NeuroRehabilitation (ICNR2016), 2016, vol. Converging Clinical and Engineering Research on Neurorehabilitation, pp. 259-263 [Online]. Available: http://link.springer.com/chapter/10.1007/978-3-319-46669-9_45

C.  Piazza, C. Della Santina,, Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A., ?SoftHand Pro-D: Matching Dynamic Content of Natural User Commands with Hand Embodiment for Enhanced Prosthesis Control?, in IEEE International Conference of Robotics and Automation (ICRA2016), Stockholm, Sweden, May 16-21, 2016, pp. 3516 - 3523 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487532

C.  Piazza, C. Della Santina,, Gasparri, G. M., Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A., ?Toward an Adaptive Foot for Natural Walking?, in International Conference on Humanoid Robots (HUMANOIDS2016), Cancun, Mexico, November 15-17, 2016, 2016 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7803423

F.  Negrello, Garabini, M., Catalano, M. G., Kryczka, P., Choi, W., Caldwell, D. G., Bicchi, A., and Tsagarakis, N. G., ? WALK-MAN humanoid lower body design optimization for enhanced physical performance?, in IEEE International Conference of Robotics and Automation (ICRA2016), Stockholm, Sweden, May 16-21, 2016 , 2016, pp. 1817 - 1824 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487327

G.  Mathijssen, Terryn, S., Funemont, R., Garabini, M., Catalano, M. G., Grioli, G., Lefeber, D., Bicchi, A., and Vanderborght, B., ?Potential merits for space robotics from novel concepts of actuation for soft robotics?, in Advanced Space Technologies for Robotics and Automation (ASTRA) , Noordwijk, The Netherlands  May 11-13, 2015, 2015. 

A.  Velasco, Garabini, M., Catalano, M. G., and Bicchi, A., ?Soft Actuation in Cyclic Motions: Stiffness Profile Optimization for Energy Efficiency?, in 15th IEEE RAS Humanoids Conference (HUMANOIDS2015), 2015, pp. 107 - 113 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7363522

G.  Grioli, Wolf, S., Garabini, M., Catalano, M. G., Burdet, E., Caldwell, D. G., Carloni, R., Friedl, W., Grebenstein, M., Laffranchi, M., Lefeber, D., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Vanderborght, B., Albu-Schaeffer, A., and Bicchi, A., ?Variable Stiffness Actuators: the user?s point of view?, Int. J. Robotics Research, vol. 34, no. 6, pp. 727-743, 2015 [Online]. Available: http://ijr.sagepub.com/cgi/reprint/0278364914566515v1.pdf?ijkey=anmgudvoLz7ZloP&keytype=finite

G. M.  Gasparri, Garabini, M., Pallottino, L., Malagia, L., Catalano, M. G., Grioli, G., and Bicchi, A., ?Variable Stiffness Control for Oscillation Damping?, in IEEE International Conference of Intelligent Robots and Systems (IROS2015), Hamburg, Germany, September 28 - October 02, 2015, 2015, pp. 6543 - 6550 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7354312

Y.  Kim, Garabini, M., Park, J., and Bicchi, A., ?Drum Stroke Variation Using Variable Stiffness Actuators?, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, USA, 2014, pp. 3892 - 3897 . 

M.  Bonilla, Farnioli, E., Piazza, C., Catalano, M. G., Grioli, G., Garabini, M., Gabiccini, M., and Bicchi, A., ?Grasping with Soft Hands?, in IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014), Madrid, Spain, November 18 - 20, 2014, pp. 581 - 587 [Online]. Available: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=7041421&queryText%3DGrasping+with+Soft+Hands

K.  Melo, Garabini, M., Grioli, G., Catalano, M. G., Malagia, L., and Bicchi, A., ?Open Source VSA-CubeBots for Rapid Soft Robot Prototyping ?, in  Robot Makers - Workshop in conjunction with 2014 Robotics Science and Systems,  July 12, 2014, Berkeley, California , 2014. 

V.  Tincani, Grioli, G., Catalano, M. G., Bonilla, M., Garabini, M., Fantoni, G., and Bicchi, A., ?Controlling the active surfaces of the Velvet Fingers: sticky to slippy fingers?, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, 2013, pp. 5494 - 5499 [Online]. Available: http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6697152&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D6697152

V.  Tincani, Grioli, G., Catalano, M. G., Garabini, M., Grechi, S., Fantoni, G., and Bicchi, A., ?Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces?, in IEEE International Conference on Robotics and Automation (ICRA2013), 2013, pp. 2744 - 2750 [Online]. Available: 10.1109/ICRA.2013.6630955 

R.  Incaini, Sestini, L., Garabini, M., Catalano, M. G., Grioli, G., and Bicchi, A., ?Optimal Control and Design Guidelines for Soft Jumping Robots: Series Elastic Actuation and Parallel Elastic Actuation in comparison?, in IEEE International Conference on Robotics and Automation (ICRA2013), 2013, pp. 2477 - 2484 [Online]. Available: 10.1109/ICRA.2013.6630914 

L.  Chen, Garabini, M., Laffranchi, M., Kashiri, N., Tsagarakis, N. G., Bicchi, A., and Caldwell, D. G., ?Optimal Control for Maximizing Velocity of the CompActTM Compliant Actuator?, in IEEE International Conference on Robotics and Automation (ICRA2013), 2013, pp. 516 - 522 [Online]. Available: 10.1109/ICRA.2013.6630623

A.  Velasco, Gasparri, G. M., Garabini, M., Malagia, L., Salaris, P., and Bicchi, A., ?Soft-Actuators in Cyclic Motion: Analytical Optimization of Stiffness and Pre-Load?, in IEEE-RAS International Conference on Humanoid Robots, Atlanta, Georgia, USA, 2013. 

B.  Vanderborght, Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Eiberger, O., Friedl, W., Ganesh, G., Garabini, M., Grebenstein, M., Grioli, G., Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Ham, V. R., Visser, L. C., and Wolf, S., ?Variable Impedance Actuators: a Review?, Robotics and Autonomous Systems, vol. 61, no. 12, pp. 1601?1614, 2013 [Online]. Available: http://www.sciencedirect.com/science/article/pii/S0921889013001188

M.  Garabini, Passaglia, A., Belo, F. A. W., Salaris, P., and Bicchi, A., ?Optimality Principles in Stiffness Control: The VSA Kick?, in International Conference of Robotics and Automation - ICRA 2012, Saint Paul, MN, USA, 2012, pp. 3341 - 3346 . 

M.  Mancini, Grioli, G., Catalano, M. G., Garabini, M., Bonomo, F., and Bicchi, A., ?Passive impedance control of a Qboid multi-DOF VSA-CubeBot manipulator?, in International Conference of Robotics and Automation - ICRA 2012, Saint Paul, MN, USA, 2012, pp. 3335 - 3340 . 

L.  Balletti, Rocchi, A., Belo, F. A. W., Catalano, M. G., Garabini, M., Grioli, G., and Bicchi, A., ?Towards variable impedance assembly: the VSA peg-in-hole?, in IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, 2012. 

M. G.  Catalano, Grioli, G., Garabini, M., Belo, F. A. W., Di Basco, A., Tsagarakis, N. G., and Bicchi, A., ?A Variable Damping module for Variable Impedance Actuation?, in International Conference of Robotics and Automation - ICRA 2012, Saint Paul, MN, USA, 2012, pp. 2666 - 2672. 

B.  Vanderborght, Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Ganesh, G., Garabini, M., Grioli, G., Haddadin, S., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Ham, V. R., Visser, L. C., and Wolf, S., ?Variable Impedance Actuators: Moving the Robots of Tomorrow?, International Conference of Intelligent Robots and Systems - IROS 2012- Best Jubilee Video Award. 2012. 

V.  Tincani, Catalano, M. G., Farnioli, E., Garabini, M., Grioli, G., Fantoni, G., and Bicchi, A., ? Velvet fingers: A dexterous gripper with active surfaces?, in International Conference of Intelligent Robots and Systems - IROS 2012, Vilamoura, Algarve, Portugal, 2012, pp. 1257 - 1263 . 

M.  Garabini, Passaglia, A., Belo, F. A. W., Salaris, P., and Bicchi, A., ?Optimality Principles in Variable Stiffness Control: the VSA Hammer?, in 2011 IEEE/RSJ International Conference on Intelligent RObots and Systems, S. Francisco, USA, 2011, pp. 3770 - 3775. 

G.  Grioli, Catalano, M. G., Garabini, M., Bonomo, F., Serio, A., Salaris, P., Belo, F. A. W., Mancini, M., Bicchi, A., and Passaglia, A., ?Variable stiffness actuators: muscles for the next generation of robots?, in Automatica.it 2011, Pisa, Italy, 2011. 

M. G.  Catalano, Grioli, G., Garabini, M., Bonomo, F., Mancini, M., Tsagarakis, N. G., and Bicchi, A., ?VSA - CubeBot. A modular variable stiffness platform for multi degrees of freedom systems?, in 2011 IEEE International Conference on Robotics and Automation, Shangai, China, 2011, pp. 5090 - 5095.