Publications

Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set
In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we …
Gianni Lunardi, Asia La Rocca, Matteo Saveriano, Andrea Del Prete
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Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set
Optimization-Based Control for Dynamic Legged Robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from …
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
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Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading
We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered …
Riccardo Bertollo, Gianni Lunardi, Andrea Del Prete, Luca Zaccarian
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GIBO: Global Integral-Based Optimization
Numerical optimization has been the workhorse powering the success of many machine learning and artificial intelligence tools over the …
Sebastien Labbe, Andrea Del Del Prete
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GIBO: Global Integral-Based Optimization
Efficient Reinforcement Learning for Jumping Monopods
In this work, we consider the complex control problem of making a monopod reach a target with a jump. The monopod can jump in any …
Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
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Co-designing versatile quadruped robots for dynamic and energy-efficient motions
This paper presents a bi-level optimization framework to concurrently optimize a quadruped hardware and control policies for achieving …
Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea Del Prete, Justin Carpentier, Philippe Souères
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Co-designing versatile quadruped robots for dynamic and energy-efficient motions
CACTO-SL: Using Sobolev Learning to improve Continuous Actor-Critic with Trajectory Optimization
Trajectory Optimization (TO) and Reinforcement Learning (RL) are powerful and complementary tools to solve optimal control problems. On …
Elisa Alboni, Gianluigi Grandesso, Gastone P. Rosati Papini, Justin Carpentier, Andrea Del Prete
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CACTO-SL: Using Sobolev Learning to improve Continuous Actor-Critic with Trajectory Optimization
VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control
Safety is often the most important requirement in robotics applications. Nonetheless, control techniques that can provide safety …
Asia La Rocca, Matteo Saveriano, Andrea Del Prete
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VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control
Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators
This paper deals with the robust control of fully-actuated robots subject to joint position, velocity and acceleration bounds. Robotic …
Erik Zanolli, Andrea Del Prete
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Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators
Reference-free Model Predictive Control for Quadrupedal Locomotion
Full-dynamics model predictive control (MPC) has recently been applied to quadrupedal locomotion in semi-unstructured environments. …
Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete
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Reference-free Model Predictive Control for Quadrupedal Locomotion
Reactive Landing Controller for Quadruped Robots
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely …
Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G Caldwell, Claudio Semini
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Reactive Landing Controller for Quadruped Robots
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvented with standard locomotion gaits. …
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
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Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots
Optimization-Based Control for Dynamic Legged Robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from …
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Cite DOI arXiv
Optimization-Based Control for Dynamic Legged Robots
Modeling the Human Gait Phases by Using Bèzier Curves to Generate Walking Trajectories for Lower-Limb Exoskeletons
The clinical usage of powered exoskeletons for the rehabilitation of patients affected by lower limb disorders has been constantly …
Matteo Zuccatti, Gaia Zinni, Stefano Maludrottu, Valentina Pericu, Matteo Laffranchi, Andrea Del Prete, Lorenzo De Michieli, Christian Vassallo
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CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
Rescue missions in mountain environments are hardly achievable by standard legged robots—because of the high slopes—or by flying …
Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli
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CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality
This letter presents a novel algorithm for the continuous control of dynamical systems that combines Trajectory Optimization (TO) and …
Gianluigi Grandesso, Elisa Alboni, Gastone P.Rosati Papini, Patrick M. Wensing, Andrea Del Prete
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CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality
Simulation aided co-design for robust robot optimization
Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Philippe Souères
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Robust Walking Based on MPC with Viability Guarantees
Model predictive control (MPC) has shown great success for controlling complex systems, such as legged robots. However, when closing …
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
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Robust Walking Based on MPC with Viability Guarantees
Nonlinear Stochastic Trajectory Optimization Legged Robots
Ahmad Gazar, Majid Khadiv, Sebastien Kleff, Andrea Del Prete, Ludovic Righetti
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Meeting sustainable development goals via robotics and autonomous systems
Robotics and autonomous systems are reshaping the world, changing healthcare, food production and biodiversity management. While they …
Solène Guenat, Phil Purnell, Zoe G. Davies, Maximilian Nawrath, Lindsay C. Stringer, Giridhara Rathnaiah Babu, Muniyandi Balasubramanian, Erica E.F. Ballantyne, Bhuvana Kolar Bylappa, Bei Chen, Peta De Jager, Andrea Del Prete, Alessandro Di Nuovo, Cyril O. Ehi-Eromosele, Mehran Eskandari Torbaghan, Karl L. Evans, Markus Fraundorfer, Wissem Haouas, Josephat U. Izunobi, Juan Carlos Jauregui-Correa, Bilal Y. Kaddouh, Sonia Lewycka, Ana C. MacIntosh, Christine Mady, Carsten Maple, Worku N. Mhiret, Rozhen Kamal Mohammed-Amin, Olukunle Charles Olawole, Temilola Oluseyi, Caroline Orfila, Alessandro Ossola, Marion Pfeifer, Tony Pridmore, Moti L. Rijal, Christine C. Rega-Brodsky, Ian D. Robertson, Christopher D.F. Rogers, Charles Rougé, Maryam B. Rumaney, Mmabaledi K. Seeletso, Mohammed Z. Shaqura, L. M. Suresh, Martin Nicholas Sweeting, Nick Taylor Buck, M. U. Ukwuru, Thomas Verbeek, Hinrich Voss, Zia Wadud, Xinjun Wang, Neil Winn, Martin Dallimer
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Meeting sustainable development goals via robotics and autonomous systems
Exponential integration for efficient and accurate multibody simulation with stiff viscoelastic contacts
The simulation of multibody systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer …
Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete
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Exponential integration for efficient and accurate multibody simulation with stiff viscoelastic contacts
Stochastic and Robust MPC for Bipedal Locomotion : A Comparative Study on Robustness and Performance
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
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Stochastic and Robust MPC for Bipedal Locomotion : A Comparative Study on Robustness and Performance
Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization
One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each …
Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
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Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization
Robust Co-Design: Coupling Morphology and Feedback Design Through Stochastic Programming
This article proposes a new framework for the computational design of robots that are robust to disturbances. The framework combines …
Gabriel Bravo-Palacios, Gianluigi Grandesso, Andrea Del Prete, Patrick M. Wensing
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Robust Co-Design: Coupling Morphology and Feedback Design Through Stochastic Programming
Reactive Balance Control for Legged Robots under Visco-Elastic Contacts
Thomas Flayols, Andrea Del Prete, Majid Khadiv, Nicolas Mansard, Ludovic Righetti
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Reactive Balance Control for Legged Robots under Visco-Elastic Contacts
Exploring the limits of a redundant actuation system through Co-Design
Gianluigi Grandesso, Gabriel Bravo-Palacios, Patrick M Wensing, Marco Fontana, Andrea Del Prete
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Exploring the limits of a redundant actuation system through Co-Design
Computational design of energy-efficient legged robots : Optimizing for size and actuators
Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Philippe Souères
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Computational design of energy-efficient legged robots : Optimizing for size and actuators
Task-Level Description
Andrea Del Prete
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SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
One of the main challenges of planning legged locomotion in complex environments is the combinatorial contact selection problem. Recent …
Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taix, Andrea Del Prete
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SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
One robot for many tasks: Versatile co-design through stochastic programming
Versatility is one of the main factors driving the adoption of robots on the assembly line and in other applications. Compared to …
Gabriel Bravo-Palacios, Andrea Del Prete, Patrick M. Wensing
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One robot for many tasks: Versatile co-design through stochastic programming
Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots
Michele Focchi, Daniele Pucci, Andrea Del Prete
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Robust humanoid locomotion using trajectory optimization and sample-efficient learning
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including …
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia Jie Zhu, Andrea Del Prete, Ludovic Righetti
Cite DOI arXiv
Robust humanoid locomotion using trajectory optimization and sample-efficient learning
Zero Step Capturability for Legged Robots in Multicontact
The ability to anticipate a fall is fundamental for any robot that has to balance. Currently, fast fall-prediction algorithms only …
Andrea Del Prete, Steve Tonneau, Nicolas Mansard
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Zero Step Capturability for Legged Robots in Multicontact
Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller
Predictive control is an efficient model-based methodology to control complex dynamical systems. In general, it boils down to the …
N. Mansard, A. Del Prete, M. Geisert, S. Tonneau, O. Stasse
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Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller
On Time Optimization of Centroidal Momentum Dynamics
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with …
Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti
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Joint Position and Velocity Bounds in Discrete-Time Acceleration / Torque Control of Robot Manipulators
Andrea Del Prete
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An Efficient Acyclic Contact Planner for Multiped Robots
We present a framework capable of producing contact plans describing complex multiped motions (including humanoid): standing up, …
Steve Tonneau, Andrea Del Prete, Julien Pettre, Chonhyon Park, Dinesh Manocha, Nicolas Mansard
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2PAC: Two Point Attractors for Center of Mass Trajectories in Multi Contact Scenarios
Fig. 1. Multi contact motions synthesized by our method. Synthesizing motions for legged characters in arbitrary environments is a …
Steve Tonneau, Andrea Del Prete, Julien Pettre, Nicolas Mansard
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TALOS: A new humanoid research platform targeted for industrial applications
© 2017 IEEE. The upcoming generation of humanoid robots will have to be equipped with state-of-The-Art technical features along with …
O. Stasse, T. Flayols, R. Budhiraja, K. Giraud-Esclasse, J. Carpentier, J. Mirabel, A. Del Prete, P. Soueres, N. Mansard, F. Lamiraux, J.-P. Laumond, L. Marchionni, H. Tome, F. Ferro
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Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground
Nirmal Giftsun, Andrea Del Prete, Florent Lamiraux
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Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground
Regularized Hierarchical Differential Dynamic Programming
Mathieu Geisert, Andrea Del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori
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Regularized Hierarchical Differential Dynamic Programming
Online Payload Identification for Quadruped Robots
Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin Caldwell, Claudio Semini
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Experimental Evaluation of Simple Estimators for Humanoid Robots
This paper introduces and evaluates a family of new simple estimators to reconstruct the pose and velocity of the floating base. The …
Thomas Flayols, Andrea Del Prete, Patrick Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse
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A kinodynamic steering-method for legged multi-contact locomotion
© 2017 IEEE. We present a novel method for synthesizing collision-free, dynamic locomotion behaviors for legged robots, including …
P. Fernbach, S. Tonneau, A. Del Prete, M. Taix
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Robustness to Joint-Torque Tracking Errors in Task-Space Inverse Dynamics
Andrea Del Prete, Nicolas Mansard
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Robustness to Joint-Torque Tracking Errors in Task-Space Inverse Dynamics
Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors
Andrea Del Prete, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse, Francesco Nori
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Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors
High-slope Terrain Locomotion for Torque-Controlled Quadruped Robots
Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin Caldwell, Claudio Semini
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High-slope Terrain Locomotion for Torque-Controlled Quadruped Robots
Fast Algorithms to Test Robust Static Equilibrium for Legged Robots
Andrea Del Prete, Steve Tonneau, Nicolas Mansard
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Fast Algorithms to Test Robust Static Equilibrium for Legged Robots
Whole-body Model-Predictive Control applied to the HRP-2 Humanoid
Jonas Koenemann, Andrea Del Prete, Yuval Tassa, Emanuel Todorov, Olivier Stasse, Maren Bennewitz, Nicolas Mansard
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Prioritized Optimal Control: a Hierarchical Differential Dynamic Programming approach
Francesco Romano, Andrea Del Prete, Nicolas Mansard, Francesco Nori
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Prioritized Motion-Force Control of Constrained Fully-Actuated Robots: \"Task Space Inverse Dynamics\"
Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale
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Inertial parameters identification and joint torques estimation with proximal force / torque sensing
Silvio Traversaro, Andrea Del Prete, Serena Ivaldi, Francesco Nori
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iCub Whole-Body Control through Force Regulation on Rigid Non-Coplanar Contacts
Francesco Nori, Silvio Traversaro, Jorhabib Eljaik, Francesco Romano, Andrea Del Prete, Daniele Pucci
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An analytical model of rolling contact and its application to the modeling of bipedal locomotion
Justin Carpentier, Andrea Del Prete, Nicolas Mansard, Jean-paul Laumond
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Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics
Andrea Del Prete, Nicolas Mansard
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Prioritized Optimal Control
Andrea Del Prete, Francesco Romano, Lorenzo Natale, Giorgio Metta, Giulio Sandini, Francesco Nori
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Partial Force Control of Constrained Floating-Base Robots
Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale
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Perception during interaction is not based on statistical context
To evaluate the central tendency we plotted the reproduced lengths against the presented length and measured the regression index, …
A. Sciutti, A. Del Prete, L. Natale, G. Sandini, M. Gori, D. Burr
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Inertial Parameter Identification Including Friction and Motor Dynamics
Silvio Traversaro, Andrea Del Prete, Riccardo Muradore, Lorenzo Natale, Francesco Nori
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Control of Contact Forces using Whole-Body Force and Tactile Sensors: Theory and Implementation on the iCub Humanoid Robot
Andrea Del Prete
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Control of Contact Forces: the Role of Tactile Feedback for Contact Localization
Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale
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Contact Force Estimations Using Tactile Sensors and Force / Torque Sensors
Andrea Del Prete, Lorenzo Natale, Francesco Nori, Giorgio Metta
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Skin Spatial Calibration Using Force/Torque Measurements
Andrea Del Prete, Simone Denei, Lorenzo Natale, Fulvio Mastrogiovanni, Francesco Nori, Giorgio Cannata, Giorgio Metta
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