Publications

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"Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization", Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim , in IEEE RA-L (under review) , 2020 Details PDF Video

"Editorial: bridging the gap between the lab and the real world: future perspectives for legged robots", Michele Focchi, Daniele Pucci, Andrea Del Prete , in Frontiers in Robotics and AI , 2020 Details PDF

"Computational design of energy-efficient legged robots: Optimizing for size and actuators", Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Philippe Souères , in ICRA (submitted to) , 2020 Details PDF

"Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts", Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete , in RAL (submitted to) , 2020 Details Video

"Robust walking based on MPC with viability-based feasibility guarantees", Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti , in T-Ro (submitted to) , 2020 Details PDF

"Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance", Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti , in RAL (submitted to) , 2020 Details PDF

"Exploring the limits of a hybrid actuation system through Co-Design", Gianluigi Grandesso, Gabriel Bravo, Patrick Wensing, Marco Fontana, Andrea Del Prete , in RAL (submitted to) , 2020 Details PDF

"SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain", Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taıx, Andrea Del Prete , in ICRA , 2020 Details PDF

"One Robot for Many Tasks: Versatile Co-Design Through Stochastic Programming", Gabriel Bravo-Palacios, Andrea Del Prete, Patrick M. Wensing , in RAL , 2020 Details PDF

"Balancing Legged Robots on Visco-Elastic Contacts", Thomas Flayols, Andrea Del Prete, Majid Khadiv, Nicolas Mansard, Ludovic Righetti , in Preprint , 2019 Details PDF Talk RSS Workshop 2019

"Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning", Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia Jie Zhu, Andrea Del Prete, Ludovic Righetti , in Humanoids , 2019 Details PDF

"2PAC: Two Point Attractors for Center of Mass Trajectories in Multi Contact Scenarios", Steve Tonneau, Pierre Fernbach, Andrea Del Prete, Julien Pettré, Nicolas Mansard , in ToG , 2018 Details PDF Video

"An Efficient Acyclic Contact Planner for Multiped Robots", Steve Tonneau, Andrea Del Prete, Julien Pettré, Chonhyon Park, Dinesh Manocha, Nicolas Mansard , in T-Ro , 2018 Details PDF Video

"Zero Step Capturability for Legged Robots in Multicontact", Andrea Del Prete, Steve Tonneau, Nicolas Mansard , in T-Ro , 2018 Details PDF Video

"Joint Position and Velocity Bounds in Discrete-Time Acceleration / Torque Control of Robot Manipulators", Andrea Del Prete , in RAL , 2018 Details PDF Code

"TALOS: A new humanoid research platform targeted for industrial applications", O. Stasse, T. Flayols, R. Budhiraja, K. Giraud-Esclasse, J. Carpentier, A. Del Prete, P. Soueres, N. Mansard, F. Lamiraux, J.-P. Laumond, L. Marchionni, H. Tome, F. Ferro , in Humanoids , 2017 Details PDF Video

"Experimental Evaluation of Simple Estimators for Humanoid Robots", Thomas Flayols, Andrea Del Prete, Patrick Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse , in Humanoids , 2017 Details PDF

"Online Payload Identification for Quadruped Robots", Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin Caldwell, Claudio Semini , in IROS , 2017 Details PDF Video

"A Kinodynamic steering-method for legged multi-contact locomotion", Pierre Fernbach, Steve Tonneau, Andrea Del Prete, Michel Taıx , in IROS , 2017 Details PDF Video

"Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground", Nirmal Giftsun, Andrea Del Prete, Florent Lamiraux , in ICINCO , 2017 Details PDF

"Regularized Hierarchical Differential Dynamic Programming", Mathieu Geisert, Andrea Del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori , in T-Ro , 2017 Details PDF Video

"Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics", Andrea Del Prete, Nicolas Mansard , in T-Ro , 2016 Details PDF Video

"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 , in IJHR , 2016 Details PDF Video Code

"High-slope Terrain Locomotion for Torque-Controlled Quadruped Robots", Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin Caldwell, Claudio Semini , in Au-Ro , 2016 Details PDF Video

"Fast Algorithms to Test Robust Static Equilibrium for Legged Robots", Andrea Del Prete, Steve Tonneau, Nicolas Mansard , in ICRA , 2016 Details PDF Video Code

"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 , in Frontiers in Robotics and AI , 2015 Details PDF Video

"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 , in IROS , 2015 Details PDF Video

"Prioritized Optimal Control: a Hierarchical Differential Dynamic Programming approach", Francesco Romano, Andrea Del Prete, Nicolas Mansard, Francesco Nori , in ICRA , 2015 Details PDF

"Inertial parameters identification and joint torques estimation with proximal force/torque sensing", Silvio Traversaro, Andrea Del Prete, Serena Ivaldi, Francesco Nori , in ICRA , 2015 Details PDF

"Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics", Andrea Del Prete, Nicolas Mansard , in RSS , 2015 Details PDF Video

"Prioritized Motion-Force Control of Constrained Fully-Actuated Robots: 'Task Space Inverse Dynamics'", Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale , in RAS , 2015 Details PDF Journal website

"Partial Force Control of Constrained Floating-Base Robots", Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale , in IROS , 2014 Details PDF

"Prioritized Optimal Control", Andrea Del Prete, Francesco Romano, Lorenzo Natale, Giorgio Metta, Giulio Sandini, Francesco Nori , in ICRA , 2014 Details PDF

"Inertial Parameter Identification Including Friction and Motor Dynamics", Silvio Traversaro, Andrea Del Prete, Riccardo Muradore, Lorenzo Natale, Francesco Nori , in Humanoids , 2013 Details PDF

"Control of Contact Forces using Whole-Body Force and Tactile Sensors: Theory and Implementation on the iCub Humanoid Robot", Andrea Del Prete , in Italian Institute of Technology and University of Genova , 2013 Details PDF

"Control of Contact Forces: the Role of Tactile Feedback for Contact Localization", Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale , in IROS , 2012 Details PDF

"Contact Force Estimations Using Tactile Sensors and Force / Torque Sensors", Andrea Del Prete, Lorenzo Natale, Francesco Nori, Giorgio Metta , in HRI , 2012 Details PDF

"Skin Spatial Calibration Using Force/Torque Measurements", Andrea Del Prete, Simone Denei, Lorenzo Natale, Fulvio Mastrogiovanni, Francesco Nori, Giorgio Cannata, Giorgio Metta , in IROS , 2011 Details PDF