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ORCIDAndrea Del Prete
Person information
- affiliation: Laboratoire d'analyse et d'architecture des systèmes, Toulouse, France
- affiliation (PhD 2012): Istituto Italiano di Tecnologia, Genova, Italy
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Journal Articles
- 2024
[j22]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: 689-698 (2024)- [j21]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: 43-63 (2024) - 2023
- [j20]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): 3318-3325 (2023) - [j19]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): 6971-6978 (2023) - [j18]Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini:
Reactive Landing Controller for Quadruped Robots. IEEE Robotics Autom. Lett. 8(11): 7210-7217 (2023) - [j17]Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi:
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. Sensors 23(3): 1234 (2023) - 2022
- [j16]Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Philippe Souères:
Simulation Aided Co-Design for Robust Robot Optimization. IEEE Robotics Autom. Lett. 7(4): 11306-11313 (2022) - [j15]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): 2389-2404 (2022) - 2021
- [j14]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: 56802-56811 (2021) - [j13]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): 5961-5968 (2021) - 2020
- [j12]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: 629002 (2020) - [j11]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): 1680-1687 (2020) - 2018
- [j10]Andrea Del Prete:
Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators. IEEE Robotics Autom. Lett. 3(1): 281-288 (2018) - [j9]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): 176 (2018) - [j8]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): 586-601 (2018) - [j7]Andrea Del Prete, Steve Tonneau, Nicolas Mansard:
Zero Step Capturability for Legged Robots in Multicontact. IEEE Trans. Robotics 34(4): 1021-1034 (2018) - 2017
- [j6]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): 259-272 (2017) - [j5]Mathieu Geisert, Andrea Del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori:
Regularized Hierarchical Differential Dynamic Programming. IEEE Trans. Robotics 33(4): 819-833 (2017) - 2016
- [j4]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): 1550044:1-1550044:29 (2016) - [j3]Andrea Del Prete, Nicolas Mansard:
Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics. IEEE Trans. Robotics 32(5): 1091-1105 (2016) - 2015
- [j2]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: 6 (2015) - [j1]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: 150-157 (2015)
Conference and Workshop Papers
- 2023
- [c26]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: 1-6 - [c25]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: 7742-7748 - [c24]Erik Zanolli, Andrea Del Prete:
Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators. IROS 2023: 10058-10065 - 2022
- [c23]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: 420-435 - 2021
- [c22]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: 61-68 - [c21]Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Philippe Souères:
Computational design of energy-efficient legged robots: Optimizing for size and actuators. ICRA 2021: 9898-9904 - 2020
- [c20]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: 6604-6610 - 2019
- [c19]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: 170-177 - 2018
- [c18]Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti:
On Time Optimization of Centroidal Momentum Dynamics. ICRA 2018: 1-7 - 2017
- [c17]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: 689-695 - [c16]Thomas Flayols, Andrea Del Prete, Patrick M. Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse:
Experimental evaluation of simple estimators for humanoid robots. Humanoids 2017: 889-895 - [c15]Nirmal Giftsun, Andrea Del Prete, Florent Lamiraux:
Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground. ICINCO (1) 2017: 37-44 - [c14]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: 148-155 - [c13]Pierre Fernbach, Steve Tonneau, Andrea Del Prete, Michel Taïx:
A kinodynamic steering-method for legged multi-contact locomotion. IROS 2017: 3701-3707 - [c12]Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini:
Online payload identification for quadruped robots. IROS 2017: 4889-4896 - 2016
- [c11]Andrea Del Prete, Steve Tonneau, Nicolas Mansard:
Fast algorithms to test robust static equilibrium for legged robots. ICRA 2016: 1601-1607 - 2015
- [c10]Silvio Traversaro, Andrea Del Prete, Serena Ivaldi, Francesco Nori:
Inertial parameters identification and joint torques estimation with proximal force/torque sensing. ICRA 2015: 2105-2110 - [c9]Francesco Romano, Andrea Del Prete, Nicolas Mansard, Francesco Nori:
Prioritized optimal control: A hierarchical differential dynamic programming approach. ICRA 2015: 3590-3595 - [c8]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: 3346-3351 - [c7]Andrea Del Prete, Nicolas Mansard:
Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics. Robotics: Science and Systems 2015 - 2014
- [c6]Andrea Del Prete, Francesco Romano, Lorenzo Natale, Giorgio Metta, Giulio Sandini, Francesco Nori:
Prioritized optimal control. ICRA 2014: 2540-2545 - [c5]Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale:
Partial force control of constrained floating-base robots. IROS 2014: 3227-3232 - 2013
- [c4]Alessandra Sciutti, Andrea Del Prete, Lorenzo Natale, David Burr, Giulio Sandini, Monica Gori:
Perception during interaction is not based on statistical context. HRI 2013: 225-226 - [c3]Silvio Traversaro, Andrea Del Prete, Riccardo Muradore, Lorenzo Natale, Francesco Nori:
Inertial parameter identification including friction and motor dynamics. Humanoids 2013: 68-73 - 2012
- [c2]Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale:
Control of contact forces: The role of tactile feedback for contact localization. IROS 2012: 4048-4053 - 2011
- [c1]Andrea Del Prete, Simone Denei, Lorenzo Natale, Fulvio Mastrogiovanni, Francesco Nori, Giorgio Cannata, Giorgio Metta:
Skin spatial calibration using force/torque measurements. IROS 2011: 3694-3700
Informal and Other Publications
- 2024
- [i23]Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Marco Frego, Angelika Peer, Luigi Palopoli:
ALPINE: a climbing robot for operations in mountain environments. CoRR abs/2403.15142 (2024) - 2023
- [i22]Asia La Rocca, Matteo Saveriano, Andrea Del Prete:
VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control. CoRR abs/2305.07535 (2023) - [i21]Francesco Roscia, Michele Focchi, Andrea Del Prete, Darwin G. Caldwell, Claudio Semini:
Reactive Landing Controller for Quadruped Robots. CoRR abs/2305.07748 (2023) - [i20]Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti:
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty. CoRR abs/2309.04469 (2023) - [i19]Riccardo Bussola, Michele Focchi, Andrea Del Prete, Daniele Fontanelli, Luigi Palopoli:
Efficient Reinforcement Learning for Jumping Monopods. CoRR abs/2309.07038 (2023) - [i18]Gianni Lunardi, Asia La Rocca, Matteo Saveriano, Andrea Del Prete:
Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set. CoRR abs/2309.11124 (2023) - [i17]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 abs/2312.10666 (2023) - 2022
- [i16]Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti:
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. CoRR abs/2205.13264 (2022) - [i15]Francesco Roscia, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, Michele Focchi:
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. CoRR abs/2208.12066 (2022) - [i14]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 abs/2209.09693 (2022) - [i13]Gianluigi Grandesso, Gastone Pietro Rosati Papini, Patrick M. Wensing, Andrea Del Prete:
CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality. CoRR abs/2211.06625 (2022) - [i12]Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete:
Optimization-Based Control for Dynamic Legged Robots. CoRR abs/2211.11644 (2022) - 2021
- [i11]Bilal Hammoud, Luca Olivieri, Ludovic Righetti, Justin Carpentier, Andrea Del Prete:
Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts. CoRR abs/2101.06846 (2021) - 2020
- [i10]Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti:
Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. CoRR abs/2005.07555 (2020) - [i9]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 abs/2010.04514 (2020) - [i8]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 abs/2011.09772 (2020) - 2019
- [i7]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 abs/1907.04616 (2019) - [i6]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 abs/1909.09044 (2019) - 2017
- [i5]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 abs/1701.00935 (2017) - 2014
- [i4]Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale:
Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics". CoRR abs/1410.3863 (2014) - [i3]Silvio Traversaro, Andrea Del Prete, Riccardo Muradore, Lorenzo Natale, Francesco Nori:
Inertial Parameter Identification Including Friction and Motor Dynamics. CoRR abs/1410.4410 (2014) - [i2]Andrea Del Prete, Francesco Romano, Lorenzo Natale, Giorgio Metta, Giulio Sandini, Francesco Nori:
Prioritized Optimal Control. CoRR abs/1410.4414 (2014) - [i1]Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale:
Partial Force Control of Constrained Floating-Base Robots. CoRR abs/1410.4426 (2014)
Coauthor Index
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