Andrea Del Prete

86 papers A* 11A 7C 1Journal 55Unranked 12
YearRankTypeTitle / Venue / Authors
2026 J jnl
CACTO-BIC: Scalable Actor-Critic Learning via Biased Sampling and GPU-Accelerated Trajectory Optimization.
CoRR
Elisa Alboni, Pietro Noah Crestaz, Elias Fontanari, Andrea Del Prete
2026 J jnl
TD-CD-MPPI: Temporal-Difference Constraint-Discounted Model Predictive Path Integral Control.
IEEE Robotics Autom. Lett.
Pietro Noah Crestaz, Ludovic De Matteïs, Elliot Chane-Sane, Nicolas Mansard, Andrea Del Prete
2025 J jnl
ALPINE: A climbing robot for operations in mountain environments.
Robotics Auton. Syst.
Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Marco Frego, Angelika Peer, Luigi Palopoli
2025 J jnl
Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design Through Kineto-Static Bi-Level Optimization.
IEEE Robotics Autom. Lett.
Enrico Mingo Hoffman, Daniel Costanzi, Gabriele Fadini, Narcís Miguel, Andrea Del Prete, Luca Marchionni
2025 — conf
Analytical Integral Global Optimization.
L4DC
Sébastien Labbé, Andrea Del Prete
2025 J jnl
Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading.
Autom.
Riccardo Bertollo, Gianni Lunardi, Andrea Del Prete, Luca Zaccarian
2025 A* conf
Parallel-Constraint Model Predictive Control: Exploiting Parallel Computation for Improving Safety.
ICRA
Elias Fontanari, Gianni Lunardi, Matteo Saveriano, Andrea Del Prete
2025 J jnl
Parallel-Constraint Model Predictive Control: Exploiting Parallel Computation for Improving Safety.
CoRR
Elias Fontanari, Gianni Lunardi, Matteo Saveriano, Andrea Del Prete
2025 — conf
Sample Efficient Certification of Discrete-Time Control Barrier Functions.
CDC
Sampath Kumar Mulagaleti, Andrea Del Prete
2025 J jnl
Sample Efficient Certification of Discrete-Time Control Barrier Functions.
CoRR
Sampath Kumar Mulagaleti, Andrea Del Prete
2024 J jnl
ALPINE: a climbing robot for operations in mountain environments.
CoRR
Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Marco Frego, Angelika Peer, Luigi Palopoli
2024 — conf
CACTO-SL: Using Sobolev learning to improve continuous actor-critic with trajectory optimization.
L4DC
Elisa Alboni, Gianluigi Grandesso, Gastone Pietro Rosati Papini, Justin Carpentier, Andrea Del Prete
2024 J jnl
Co-designing versatile quadruped robots for dynamic and energy-efficient motions.
Robotica
Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea Del Prete, Justin Carpentier, Philippe Souères
2024 J jnl
Efficient Reinforcement Learning for 3D Jumping Monopods.
Sensors
Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
2024 J jnl
Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading.
CoRR
Riccardo Bertollo, Gianni Lunardi, Andrea Del Prete, Luca Zaccarian
2024 J jnl
Optimization-Based Control for Dynamic Legged Robots.
IEEE Trans. Robotics
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
2024 A* conf
Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set.
ICRA
Gianni Lunardi, Asia La Rocca, Matteo Saveriano, Andrea Del Prete
2024 J jnl
Reference-Free Model Predictive Control for Quadrupedal Locomotion.
IEEE Access
Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete
2023 J jnl
CACTO-SL: Using Sobolev Learning to improve Continuous Actor-Critic with Trajectory Optimization.
CoRR
Elisa Alboni, Gianluigi Grandesso, Gastone Pietro Rosati Papini, Justin Carpentier, Andrea Del Prete
2023 J jnl
CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality.
IEEE Robotics Autom. Lett.
Gianluigi Grandesso, Elisa Alboni, Gastone Pietro Rosati Papini, Patrick M. Wensing, Andrea Del Prete
2023 A* conf
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments.
ICRA
Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli
2023 J jnl
Efficient Reinforcement Learning for Jumping Monopods.
CoRR
Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli
2023 — conf
Modeling the Human Gait Phases by Using Bèzier Curves to Generate Walking Trajectories for Lower-Limb Exoskeletons.
ICORR
Matteo Zuccatti, Gaia Zinni, Stefano Maludrottu, Valentina Pericu, Matteo Laffranchi, Andrea Del Prete, Lorenzo De Michieli, Christian Vassallo
2023 J jnl
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty.
CoRR
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
2023 J jnl
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots.
Sensors
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
2023 J jnl
Reactive Landing Controller for Quadruped Robots.
CoRR
Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini
2023 J jnl
Reactive Landing Controller for Quadruped Robots.
IEEE Robotics Autom. Lett.
Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini
2023 J jnl
Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set.
CoRR
Gianni Lunardi, Asia La Rocca, Matteo Saveriano, Andrea Del Prete
2023 A conf
Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators.
IROS
Erik Zanolli, Andrea Del Prete
2023 J jnl
VBOC: Learning the Viability Boundary of a Robot Manipulator Using Optimal Control.
IEEE Robotics Autom. Lett.
Asia La Rocca, Matteo Saveriano, Andrea Del Prete
2023 J jnl
VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control.
CoRR
Asia La Rocca, Matteo Saveriano, Andrea Del Prete
2022 J jnl
CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality.
CoRR
Gianluigi Grandesso, Gastone Pietro Rosati Papini, Patrick M. Wensing, Andrea Del Prete
2022 J jnl
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments.
CoRR
Michele Focchi, Mohamed Bensaadallah, Marco Frego, Angelika Peer, Daniele Fontanelli, Andrea Del Prete, Luigi Palopoli
2022 C conf
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots.
ISRR
Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti
2022 J jnl
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots.
CoRR
Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti
2022 J jnl
Optimization-Based Control for Dynamic Legged Robots.
CoRR
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
2022 J jnl
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots.
CoRR
Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi
2022 J jnl
Robust Walking Based on MPC With Viability Guarantees.
IEEE Trans. Robotics
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
2022 J jnl
Simulation Aided Co-Design for Robust Robot Optimization.
IEEE Robotics Autom. Lett.
Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Philippe Souères
2021 A* conf
Computational design of energy-efficient legged robots: Optimizing for size and actuators.
ICRA
Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Philippe Souères
2021 J jnl
Exploring the Limits of a Redundant Actuation System Through Co-Design.
IEEE Access
Gianluigi Grandesso, Gabriel Bravo-Palacios, Patrick M. Wensing, Marco Fontana, Andrea Del Prete
2021 J jnl
Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts.
CoRR
Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete
2021 J jnl
Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization.
IEEE Robotics Autom. Lett.
Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
2021 — conf
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance.
HUMANOIDS
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
2020 J jnl
Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots.
Frontiers Robotics AI
Michele Focchi, Daniele Pucci, Andrea Del Prete
2020 J jnl
One Robot for Many Tasks: Versatile Co-Design Through Stochastic Programming.
IEEE Robotics Autom. Lett.
Gabriel Bravo-Palacios, Andrea Del Prete, Patrick M. Wensing
2020 J jnl
Robust walking based on MPC with viability-based feasibility guarantees.
CoRR
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
2020 A* conf
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain.
ICRA
Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete
2020 J jnl
Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization.
CoRR
Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
2020 J jnl
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance.
CoRR
Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti
2019 — conf
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning.
Humanoids
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti
2019 J jnl
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning.
CoRR
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian, Jia-Jie Zhu, Andrea Del Prete, Ludovic Righetti
2019 J jnl
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain.
CoRR
Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete
2018 J jnl
2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios.
ACM Trans. Graph.
Steve Tonneau, Pierre Fernbach, Andrea Del Prete, Julien Pettré, Nicolas Mansard
2018 J jnl
An Efficient Acyclic Contact Planner for Multiped Robots.
IEEE Trans. Robotics
Steve Tonneau, Andrea Del Prete, Julien Pettré, Chonhyon Park, Dinesh Manocha, Nicolas Mansard
2018 J jnl
Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators.
IEEE Robotics Autom. Lett.
Andrea Del Prete
2018 A* conf
On Time Optimization of Centroidal Momentum Dynamics.
ICRA
Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti
2018 J jnl
Zero Step Capturability for Legged Robots in Multicontact.
IEEE Trans. Robotics
Andrea Del Prete, Steve Tonneau, Nicolas Mansard
2017 — conf
A Whole-Body Software Abstraction Layer for Control Design of Free-Floating Mechanical Systems.
IRC
Francesco Romano, Silvio Traversaro, Daniele Pucci, Jorhabib Eljaik, Andrea Del Prete, Francesco Nori
2017 J jnl
A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems.
CoRR
Francesco Romano, Silvio Traversaro, Daniele Pucci, Jorhabib Eljaik, Andrea Del Prete, Francesco Nori
2017 A conf
A kinodynamic steering-method for legged multi-contact locomotion.
IROS
Pierre Fernbach, Steve Tonneau, Andrea Del Prete, Michel Taïx
2017 — conf
Experimental evaluation of simple estimators for humanoid robots.
Humanoids
Thomas Flayols, Andrea Del Prete, Patrick M. Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse
2017 J jnl
High-slope terrain locomotion for torque-controlled quadruped robots.
Auton. Robots
Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
2017 A conf
Online payload identification for quadruped robots.
IROS
Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini
2017 J jnl
Regularized Hierarchical Differential Dynamic Programming.
IEEE Trans. Robotics
Mathieu Geisert, Andrea Del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori
2017 — conf
Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground.
ICINCO (1)
Nirmal Giftsun, Andrea Del Prete, Florent Lamiraux
2017 — conf
TALOS: A new humanoid research platform targeted for industrial applications.
Humanoids
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
2016 A* conf
Fast algorithms to test robust static equilibrium for legged robots.
ICRA
Andrea Del Prete, Steve Tonneau, Nicolas Mansard
2016 J jnl
Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors.
Int. J. Humanoid Robotics
Andrea Del Prete, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse, Francesco Nori
2016 J jnl
Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics.
IEEE Trans. Robotics
Andrea Del Prete, Nicolas Mansard
2015 — conf
Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics.
Robotics: Science and Systems
Andrea Del Prete, Nicolas Mansard
2015 A* conf
Inertial parameters identification and joint torques estimation with proximal force/torque sensing.
ICRA
Silvio Traversaro, Andrea Del Prete, Serena Ivaldi, Francesco Nori
2015 J jnl
Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics".
Robotics Auton. Syst.
Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale
2015 A* conf
Prioritized optimal control: A hierarchical differential dynamic programming approach.
ICRA
Francesco Romano, Andrea Del Prete, Nicolas Mansard, Francesco Nori
2015 A conf
Whole-body model-predictive control applied to the HRP-2 humanoid.
IROS
Jonas Koenemann, Andrea Del Prete, Yuval Tassa, Emanuel Todorov, Olivier Stasse, Maren Bennewitz, Nicolas Mansard
2015 J jnl
iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts.
Frontiers Robotics AI
Francesco Nori, Silvio Traversaro, Jorhabib Eljaik, Francesco Romano, Andrea Del Prete, Daniele Pucci
2014 J jnl
Inertial Parameter Identification Including Friction and Motor Dynamics.
CoRR
Silvio Traversaro, Andrea Del Prete, Riccardo Muradore, Lorenzo Natale, Francesco Nori
2014 J jnl
Partial Force Control of Constrained Floating-Base Robots.
CoRR
Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale
2014 A conf
Partial force control of constrained floating-base robots.
IROS
Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale
2014 J jnl
Prioritized Optimal Control.
CoRR
Andrea Del Prete, Francesco Romano, Lorenzo Natale, Giorgio Metta, Giulio Sandini, Francesco Nori
2014 J jnl
Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics".
CoRR
Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale
2014 A* conf
Prioritized optimal control.
ICRA
Andrea Del Prete, Francesco Romano, Lorenzo Natale, Giorgio Metta, Giulio Sandini, Francesco Nori
2013 — conf
Inertial parameter identification including friction and motor dynamics.
Humanoids
Silvio Traversaro, Andrea Del Prete, Riccardo Muradore, Lorenzo Natale, Francesco Nori
2013 A* conf
Perception during interaction is not based on statistical context.
HRI
Alessandra Sciutti, Andrea Del Prete, Lorenzo Natale, David Burr, Giulio Sandini, Monica Gori
2012 A conf
Control of contact forces: The role of tactile feedback for contact localization.
IROS
Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale
2011 A conf
Skin spatial calibration using force/torque measurements.
IROS
Andrea Del Prete, Simone Denei, Lorenzo Natale, Fulvio Mastrogiovanni, Francesco Nori, Giorgio Cannata, Giorgio Metta