Andrea Del Prete

Publication Activity (10 Years)

Years Active: 2011-2024
Publications (10 Years): 58

Top Topics

Predictive Control

Reinforcement Learning

Top Venues

IEEE Robotics Autom. Lett.

IEEE Trans. Robotics

Publications

Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete
Reference-Free Model Predictive Control for Quadrupedal Locomotion. IEEE Access 12 (2024)
Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Marco Frego, Angelika Peer, Luigi Palopoli
ALPINE: a climbing robot for operations in mountain environments. CoRR (2024)
Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
Efficient Reinforcement Learning for 3D Jumping Monopods. Sensors 24 (15) (2024)
Gianni Lunardi, Asia La Rocca, Matteo Saveriano, Andrea Del Prete
Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set. ICRA (2024)
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Optimization-Based Control for Dynamic Legged Robots. IEEE Trans. Robotics 40 (2024)
Elisa Alboni, Gianluigi Grandesso, Gastone Pietro Rosati Papini, Justin Carpentier, Andrea Del Prete
CACTO-SL: Using Sobolev learning to improve continuous actor-critic with trajectory optimization. L4DC (2024)
Riccardo Bertollo, Gianni Lunardi, Andrea Del Prete, Luca Zaccarian
Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading. CoRR (2024)
Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments. ICRA (2023)
Asia La Rocca, Matteo Saveriano, Andrea Del Prete
VBOC: Learning the Viability Boundary of a Robot Manipulator Using Optimal Control. IEEE Robotics Autom. Lett. 8 (11) (2023)
Asia La Rocca, Matteo Saveriano, Andrea Del Prete
VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control. CoRR (2023)
Erik Zanolli, Andrea Del Prete
Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators. IROS (2023)
Elisa Alboni, Gianluigi Grandesso, Gastone Pietro Rosati Papini, Justin Carpentier, Andrea Del Prete
CACTO-SL: Using Sobolev Learning to improve Continuous Actor-Critic with Trajectory Optimization. CoRR (2023)
Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
Efficient Reinforcement Learning for Jumping Monopods. CoRR (2023)
Gianni Lunardi, Asia La Rocca, Matteo Saveriano, Andrea Del Prete
Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set. CoRR (2023)
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty. CoRR (2023)
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. Sensors 23 (3) (2023)
Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini
Reactive Landing Controller for Quadruped Robots. IEEE Robotics Autom. Lett. 8 (11) (2023)
Gianluigi Grandesso, Elisa Alboni, Gastone Pietro Rosati Papini, Patrick M. Wensing, Andrea Del Prete
CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality. IEEE Robotics Autom. Lett. 8 (6) (2023)
Matteo Zuccatti, Gaia Zinni, Stefano Maludrottu, Valentina Pericu, Matteo Laffranchi, Andrea Del Prete, Lorenzo De Michieli, Christian Vassallo
Modeling the Human Gait Phases by Using Bèzier Curves to Generate Walking Trajectories for Lower-Limb Exoskeletons. ICORR (2023)
Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini
Reactive Landing Controller for Quadruped Robots. CoRR (2023)
Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments. CoRR (2022)
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
Robust Walking Based on MPC With Viability Guarantees. IEEE Trans. Robotics 38 (4) (2022)
Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Philippe Souères
Simulation Aided Co-Design for Robust Robot Optimization. IEEE Robotics Autom. Lett. 7 (4) (2022)
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. CoRR (2022)
Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. ISRR (2022)
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Optimization-Based Control for Dynamic Legged Robots. CoRR (2022)
Gianluigi Grandesso, Gastone P. Rosati Papini, Patrick M. Wensing, Andrea Del Prete
CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality. CoRR (2022)
Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. CoRR (2022)
Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization. IEEE Robotics Autom. Lett. 6 (3) (2021)
Gianluigi Grandesso, Gabriel Bravo-Palacios, Patrick M. Wensing, Marco Fontana, Andrea Del Prete
Exploring the Limits of a Redundant Actuation System Through Co-Design. IEEE Access 9 (2021)
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. HUMANOIDS (2021)
Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete
Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts. CoRR (2021)
Michele Focchi, Daniele Pucci, Andrea Del Prete
Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots. Frontiers Robotics AI 7 (2020)
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. CoRR (2020)
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
Robust walking based on MPC with viability-based feasibility guarantees. CoRR (2020)
Gabriel Bravo-Palacios, Andrea Del Prete, Patrick M. Wensing
One Robot for Many Tasks: Versatile Co-Design Through Stochastic Programming. IEEE Robotics Autom. Lett. 5 (2) (2020)
Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. ICRA (2020)
Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization. CoRR (2020)
Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. CoRR (2019)
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. Humanoids (2019)
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. CoRR (2019)
Steve Tonneau, Pierre Fernbach, Andrea Del Prete, Julien Pettré, Nicolas Mansard
2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios. ACM Trans. Graph. 37 (5) (2018)
Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti
On Time Optimization of Centroidal Momentum Dynamics. ICRA (2018)
Steve Tonneau, Andrea Del Prete, Julien Pettré, Chonhyon Park, Dinesh Manocha, Nicolas Mansard
An Efficient Acyclic Contact Planner for Multiped Robots. IEEE Trans. Robotics 34 (3) (2018)
Andrea Del Prete, Steve Tonneau, Nicolas Mansard
Zero Step Capturability for Legged Robots in Multicontact. IEEE Trans. Robotics 34 (4) (2018)
Andrea Del Prete
Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators. IEEE Robotics Autom. Lett. 3 (1) (2018)
Nirmal Giftsun, Andrea Del Prete, Florent Lamiraux
Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground. ICINCO (1) (2017)
Francesco Romano, Silvio Traversaro, Daniele Pucci, Jorhabib Eljaik, Andrea Del Prete, Francesco Nori
A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems. CoRR (2017)
Francesco Romano, Silvio Traversaro, Daniele Pucci, Jorhabib Eljaik, Andrea Del Prete, Francesco Nori
A Whole-Body Software Abstraction Layer for Control Design of Free-Floating Mechanical Systems. IRC (2017)
Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini
Online payload identification for quadruped robots. IROS (2017)
Olivier Stasse, Thomas Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, Andrea Del Prete, Philippe Souères, Nicolas Mansard, Florent Lamiraux, Jean-Paul Laumond, Luca Marchionni, Hilario Tome, Francesco Ferro
TALOS: A new humanoid research platform targeted for industrial applications. Humanoids (2017)
Thomas Flayols, Andrea Del Prete, Patrick M. Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse
Experimental evaluation of simple estimators for humanoid robots. Humanoids (2017)
Mathieu Geisert, Andrea Del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori
Regularized Hierarchical Differential Dynamic Programming. IEEE Trans. Robotics 33 (4) (2017)
Pierre Fernbach, Steve Tonneau, Andrea Del Prete, Michel Taïx
A kinodynamic steering-method for legged multi-contact locomotion. IROS (2017)
Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
High-slope terrain locomotion for torque-controlled quadruped robots. Auton. Robots 41 (1) (2017)
Andrea Del Prete, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse, Francesco Nori
Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors. Int. J. Humanoid Robotics 13 (1) (2016)
Andrea Del Prete, Nicolas Mansard
Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics. IEEE Trans. Robotics 32 (5) (2016)
Andrea Del Prete, Steve Tonneau, Nicolas Mansard
Fast algorithms to test robust static equilibrium for legged robots. ICRA (2016)
Francesco Nori, Silvio Traversaro, Jorhabib Eljaik, Francesco Romano, Andrea Del Prete, Daniele Pucci
iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts. Frontiers Robotics AI 2 (2015)
Jonas Koenemann, Andrea Del Prete, Yuval Tassa, Emanuel Todorov, Olivier Stasse, Maren Bennewitz, Nicolas Mansard
Whole-body model-predictive control applied to the HRP-2 humanoid. IROS (2015)
Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale
Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics". Robotics Auton. Syst. 63 (2015)
Silvio Traversaro, Andrea Del Prete, Serena Ivaldi, Francesco Nori
Inertial parameters identification and joint torques estimation with proximal force/torque sensing. ICRA (2015)
Andrea Del Prete, Nicolas Mansard
Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics. Robotics: Science and Systems (2015)
Francesco Romano, Andrea Del Prete, Nicolas Mansard, Francesco Nori
Prioritized optimal control: A hierarchical differential dynamic programming approach. ICRA (2015)
Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale
Partial force control of constrained floating-base robots. IROS (2014)
Andrea Del Prete, Francesco Romano, Lorenzo Natale, Giorgio Metta, Giulio Sandini, Francesco Nori
Prioritized Optimal Control. CoRR (2014)
Andrea Del Prete, Francesco Romano, Lorenzo Natale, Giorgio Metta, Giulio Sandini, Francesco Nori
Prioritized optimal control. ICRA (2014)
Silvio Traversaro, Andrea Del Prete, Riccardo Muradore, Lorenzo Natale, Francesco Nori
Inertial Parameter Identification Including Friction and Motor Dynamics. CoRR (2014)
Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale
Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics". CoRR (2014)
Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale
Partial Force Control of Constrained Floating-Base Robots. CoRR (2014)
Silvio Traversaro, Andrea Del Prete, Riccardo Muradore, Lorenzo Natale, Francesco Nori
Inertial parameter identification including friction and motor dynamics. Humanoids (2013)
Alessandra Sciutti, Andrea Del Prete, Lorenzo Natale, David Burr, Giulio Sandini, Monica Gori
Perception during interaction is not based on statistical context. HRI (2013)
Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale
Control of contact forces: The role of tactile feedback for contact localization. IROS (2012)
Andrea Del Prete, Simone Denei, Lorenzo Natale, Fulvio Mastrogiovanni, Francesco Nori, Giorgio Cannata, Giorgio Metta
Skin spatial calibration using force/torque measurements. IROS (2011)