Lorenzo Rapetti

38 papers A* 3A 1B 2C 1Journal 24Unranked 7
YearRankTypeTitle / Venue / Authors
2025 J jnl
Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots.
IEEE Robotics Autom. Lett.
Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci
2025 A conf
Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering.
IROS
Evelyn D'Elia, Paolo Maria Viceconte, Lorenzo Rapetti, Diego Ferigo, Giulio Romualdi, Giuseppe L'Erario, Raffaello Camoriano, Daniele Pucci
2025 J jnl
Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering.
CoRR
Evelyn D'Elia, Paolo Maria Viceconte, Lorenzo Rapetti, Diego Ferigo, Giulio Romualdi, Giuseppe L'Erario, Raffaello Camoriano, Daniele Pucci
2024 J jnl
Online Action Recognition for Human Risk Prediction with Anticipated Haptic Alert via Wearables.
CoRR
Cheng Guo, Lorenzo Rapetti, Kourosh Darvish, Riccardo Grieco, Francesco Draicchio, Daniele Pucci
2024 J jnl
Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots.
CoRR
Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci
2024 J jnl
iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots.
Sci. Robotics
Stefano Dafarra, Ugo Pattacini, Giulio Romualdi, Lorenzo Rapetti, Riccardo Grieco, Kourosh Darvish, Gianluca Milani, Enrico Valli, Ines Sorrentino, Paolo Maria Viceconte, Alessandro Scalzo, Silvio Traversaro, Carlotta Sartore, Mohamed Elobaid, Nuno Guedelha, Connor W. Herron, Alexander Leonessa, Francesco Draicchio, Giorgio Metta, Marco Maggiali, Daniele Pucci
2023 A* conf
A Control Approach for Human-Robot Ergonomic Payload Lifting.
ICRA
Lorenzo Rapetti, Carlotta Sartore, Mohamed Elobaid, Yeshasvi Tirupachuri, Francesco Draicchio, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci
2023 J jnl
A Control Approach for Human-Robot Ergonomic Payload Lifting.
CoRR
Lorenzo Rapetti, Carlotta Sartore, Mohamed Elobaid, Yeshasvi Tirupachuri, Francesco Draicchio, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci
2023 — conf
Codesign of Humanoid Robots for Ergonomic Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization.
Humanoids
Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
2023 J jnl
Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization.
CoRR
Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
2023 — conf
Live Demonstration: Prevention and Prediction of Biomechanical Risks in Work Environment.
SENSORS
Enrico Valli, Gianluca Milani, Lorenzo Rapetti, Dario Sortino, Gianmarco Gatti, Daniele Pucci
2023 J jnl
Modeling and Calibration of Pressure-Sensing Insoles via a New Plenum-Based Chamber.
Sensors
Italo Belli, Ines Sorrentino, Simeone Dussoni, Gianluca Milani, Lorenzo Rapetti, Yeshasvi Tirupachuri, Enrico Valli, Punith Reddy Vanteddu, Marco Maggiali, Daniele Pucci
2023 — conf
Online Action Recognition for Human Risk Prediction with Anticipated Haptic Alert via Wearables.
Humanoids
Cheng Guo, Lorenzo Rapetti, Kourosh Darvish, Riccardo Grieco, Francesco Draicchio, Daniele Pucci
2023 A* conf
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization.
ICRA
Mohamed Elobaid, Giulio Romualdi, Gabriele Nava, Lorenzo Rapetti, Hosameldin Awadalla Omer Mohamed, Daniele Pucci
2023 J jnl
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization.
CoRR
Mohamed Elobaid, Giulio Romualdi, Gabriele Nava, Lorenzo Rapetti, Hosameldin Awadalla Omer Mohamed, Daniele Pucci
2023 C conf
Towards a real-world application of wearable sensors for musculoskeletal disorders prevention: the iFeel Wired Suit.
BSN
Dario Sortino, Lorenzo Rapetti, Enrico Valli, Daniele Pucci
2022 J jnl
Analysis of Human Whole-Body Joint Torques During Overhead Work With a Passive Exoskeleton.
IEEE Trans. Hum. Mach. Syst.
Claudia Latella, Yeshasvi Tirupachuri, Luca Tagliapietra, Lorenzo Rapetti, Benjamin Schirrmeister, Jonas Bornmann, Dasa Gorjan, Jernej Camernik, Pauline Maurice, Lars Fritzsche, José González-Vargas, Serena Ivaldi, Jan Babic, Francesco Nori, Daniele Pucci
2022 — conf
Estimation of Human Base Kinematics using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter.
Humanoids
Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
2022 — conf
Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting.
Humanoids
Carlotta Sartore, Lorenzo Rapetti, Daniele Pucci
2022 J jnl
Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting.
CoRR
Carlotta Sartore, Lorenzo Rapetti, Daniele Pucci
2022 J jnl
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter.
CoRR
Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
2022 J jnl
iCub3 Avatar System.
CoRR
Stefano Dafarra, Kourosh Darvish, Riccardo Grieco, Gianluca Milani, Ugo Pattacini, Lorenzo Rapetti, Giulio Romualdi, Mattia Salvi, Alessandro Scalzo, Ines Sorrentino, Davide Tomè, Silvio Traversaro, Enrico Valli, Paolo Maria Viceconte, Giorgio Metta, Marco Maggiali, Daniele Pucci
2021 J jnl
Online Non-Collocated Estimation of Payload and Articular Stress for Real-Time Human Ergonomy Assessment.
IEEE Access
Yeshasvi Tirupachuri, Prashanth Ramadoss, Lorenzo Rapetti, Claudia Latella, Kourosh Darvish, Silvio Traversaro, Daniele Pucci
2021 A* conf
Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization.
ICRA
Lorenzo Rapetti, Yeshasvi Tirupachuri, Alberto Ranavolo, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci
2021 J jnl
Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization.
CoRR
Lorenzo Rapetti, Yeshasvi Tirupachuri, Alberto Ranavolo, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci
2020 J jnl
A Novel Sensorised Insole for Sensing Feet Pressure Distributions.
Sensors
Ines Sorrentino, Francisco Javier Andrade Chavez, Claudia Latella, Luca Fiorio, Silvio Traversaro, Lorenzo Rapetti, Yeshasvi Tirupachuri, Nuno Guedelha, Marco Maggiali, Simeone Dussoni, Giorgio Metta, Daniele Pucci
2020 J jnl
Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics.
Algorithms
Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish, Stefano Dafarra, Gabriele Nava, Claudia Latella, Daniele Pucci
2020 J jnl
Recent Advances in Human-Robot Collaboration Towards Joint Action.
CoRR
Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti, Claudia Latella, Kourosh Darvish, Daniele Pucci
2019 J jnl
A Novel Sensorized Skin Insole for Sensing Feet Pressure Distributions.
CoRR
Ines Sorrentino, Francisco Javier Andrade Chavez, Claudia Latella, Luca Fiorio, Silvio Traversaro, Lorenzo Rapetti, Yeshasvi Tirupachuri, Marco Maggiali, Simeone Dussoni, Giorgio Metta, Daniele Pucci
2019 J jnl
Model-Based Real-Time Motion Tracking using Dynamical Inverse Kinematics.
CoRR
Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish, Claudia Latella, Daniele Pucci
2019 J jnl
Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques.
Sensors
Claudia Latella, Silvio Traversaro, Diego Ferigo, Yeshasvi Tirupachuri, Lorenzo Rapetti, Francisco Javier Andrade Chavez, Francesco Nori, Daniele Pucci
2019 — conf
Towards Partner-Aware Humanoid Robot Control Under Physical Interactions.
IntelliSys (2)
Yeshasvi Tirupachuri, Gabriele Nava, Claudia Latella, Diego Ferigo, Lorenzo Rapetti, Luca Tagliapietra, Francesco Nori, Daniele Pucci
2019 B conf
Trajectory Advancement during Human-Robot Collaboration.
RO-MAN
Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti, Claudia Latella, Daniele Pucci
2019 J jnl
Trajectory Advancement during Human-Robot Collaboration.
CoRR
Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti, Claudia Latella, Daniele Pucci
2019 J jnl
Trajectory Advancement for Robot Stand-up with Human Assistance.
CoRR
Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti, Claudia Latella, Daniele Pucci
2019 — conf
Whole-Body Geometric Retargeting for Humanoid Robots.
Humanoids
Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, Daniele Pucci
2019 J jnl
Whole-Body Geometric Retargeting for Humanoid Robots.
CoRR
Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, Daniele Pucci
2017 B conf
Virtual reality navigation system for prostate biopsy.
VRST
Lorenzo Rapetti, Simone Crivellaro, Elena De Momi, Giancarlo Ferrigno, Craig Niederberger, Cristian Luciano