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Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller

 Nicolas Mansard , Andrea del Prete , Mathieu Geisert , Steve Tonneau , Olivier Stasse
IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. 9p
Communication dans un congrès hal-01591373v1
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Regularized Hierarchical Differential Dynamic Programming

 Mathieu Geisert , Andrea del Prete , Nicolas Mansard , Francesco Romano , Francesco Nori
IEEE Transactions on Robotics, 2017, 33 (4), pp.819-833
Article dans une revue hal-01356992v2
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Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics

 Andrea del Prete , Nicolas Mansard
IEEE Transactions on Robotics, 2016, 32 (5), pp. 1091-1105. ⟨10.1109/TRO.2016.2593027⟩
Article dans une revue hal-01241974v2
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High-slope Terrain Locomotion for Torque-Controlled Quadruped Robots

 Michele Focchi , Andrea del Prete , Ioannis Havoutis , Roy Featherstone , Darwin Caldwell , et al.
Autonomous Robots, 2017, 41 (1), pp.259-272. ⟨10.1007/s10514-016-9573-1⟩
Article dans une revue hal-01137225v3
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Zero Step Capturability for Legged Robots in Multi Contact

 Andrea del Prete , Steve Tonneau , Nicolas Mansard
IEEE Transactions on Robotics, 2018, 34 (4), pp.1021-1034. ⟨10.1109/TRO.2018.2820687⟩
Article dans une revue hal-01574687v2

Partial force control of constrained floating-base robots

 Andrea del Prete , Nicolas Mansard , Francesco Nori , Giorgio Metta , Lorenzo Natale
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Sep 2014, Chicago, United States. pp.3227-3232, ⟨10.1109/IROS.2014.6943010⟩
Communication dans un congrès hal-01988899v1
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Fast Algorithms to Test Robust Static Equilibrium for Legged Robots

 Andrea del Prete , Steve Tonneau , Nicolas Mansard
IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp. 1601-1607
Communication dans un congrès hal-01201060v2
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Experimental Evaluation of Simple Estimators for Humanoid Robots

 Thomas Flayols , Andrea del Prete , Patrick Wensing , Alexis Mifsud , Mehdi Benallegue , et al.
IEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom
Communication dans un congrès hal-01574819v2

Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization

 Daeun Song , Pierre Fernbach , Thomas Flayols , Andrea del Prete , Steve Tonneau , et al.
IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5961 - 5968. ⟨10.1109/LRA.2021.3088797⟩
Article dans une revue hal-03435135v1

SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain

 Steve Tonneau , Daeun Song , Pierre Fernbach , Nicolas Mansard , Michel Taïx , et al.
IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197371⟩
Communication dans un congrès hal-02293234v1
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Computational design of energy-efficient legged robots: Optimizing for size and actuators

 Gabriele Fadini , Thomas Flayols , Andrea del Prete , Nicolas Mansard , Philippe Souères
IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xian, China. ⟨10.1109/ICRA48506.2021.9560988⟩
Communication dans un congrès hal-02993624v2
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Prioritized Optimal Control: a Hierarchical Differential Dynamic Programming approach

 Francesco Romano , Andrea del Prete , Nicolas Mansard , Francesco Nori
2015 IEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, Washington State Convention Center, Seattle, Washington, United States
Communication dans un congrès hal-01121341v1
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Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics

 Andrea del Prete , Nicolas Mansard
Robotics, Sciences and Systems 2015, Jul 2015, Rome, Italy
Communication dans un congrès hal-01109375v2
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Inertial parameters identification and joint torques estimation with proximal force/torque sensing

 Silvio Traversaro , Andrea del Prete , Serena Ivaldi , Francesco Nori
2015 IEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, Seattle, WA, United States
Communication dans un congrès hal-01131610v1
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Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators

 Andrea del Prete
IEEE Robotics and Automation Letters, 2018, 3 (1), pp.281-288. ⟨10.1109/LRA.2017.2738321⟩
Article dans une revue hal-01356989v3
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Exploring the limits of a hybrid actuation system through Co-Design

 Gianluigi Grandesso , Gabriel Bravo-Palacios , Patrick Wensing , Marco Fontana , Andrea del Prete
2020
Pré-publication, Document de travail hal-02885957v1
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Exploring the limits of a hybrid actuation system through Co-Design - Technical Report

 Gianluigi Grandesso , Gabriel Bravo-Palacios , Patrick Wensing , Marco Fontana , Andrea del Prete
[Technical Report] University of Trento. 2020
Rapport hal-02737086v2
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TALOS: A new humanoid research platform targeted for industrial applications

 Olivier Stasse , Thomas Flayols , Rohan Budhiraja , Kevin Giraud-Esclasse , Justin Carpentier , et al.
International Conference on Humanoid Robotics, ICHR, Birmingham 2017, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/HUMANOIDS.2017.8246947⟩
Communication dans un congrès hal-01485519v2
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A Kinodynamic steering-method for legged multi-contact locomotion

 Pierre Fernbach , Steve Tonneau , Andrea del Prete , Michel Taïx
IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 7p
Communication dans un congrès hal-01486933v2
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Whole-body Model-Predictive Control applied to the HRP-2 Humanoid

 J Koenemann , Andrea del Prete , Yuval Tassa , E Todorov , Olivier Stasse , et al.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 8p
Communication dans un congrès hal-01137021v1
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iCub whole-body control through force regulation on rigid non-coplanar contacts

 Francesco Nori , Silvio Traversaro , Jorhabib Eljaik , Francesco Romano , Andrea del Prete , et al.
Frontiers in Robotics and AI, 2015, pp.18. ⟨10.3389/frobt.2015.00006⟩
Article dans une revue hal-01137239v1
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Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground

 Nirmal Giftsun , Andrea del Prete , Florent Lamiraux
International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), Jul 2017, Madrid, Spain
Communication dans un congrès hal-01533136v1
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Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors

 Andrea del Prete , Nicolas Mansard , Oscar Efrain Ramos Ponce , Olivier Stasse , Francesco Nori
International Journal of Humanoid Robotics, 2016, 13 (1), pp.1550044
Article dans une revue hal-01136936v2
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Online Payload Identification for Quadruped Robots

 Guido G Tournois , Michele G Focchi , Andrea del Prete , Romeo G Orsolino , Darwin G Caldwell , et al.
EEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 8p
Communication dans un congrès hal-01575033v1
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An efficient acyclic contact planner for multiped robots

 Steve Tonneau , Andrea del Prete , Julien Pettré , Chonhyon Park , Dinesh Manocha , et al.
IEEE Transactions on Robotics, 2018, 34 (3), pp.586-601. ⟨10.1109/TRO.2018.2819658⟩
Article dans une revue hal-01267345v3
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Balancing Legged Robots on Visco-Elastic Contacts

 Thomas Flayols , Andrea del Prete , Majid Khadiv , Nicolas Mansard , Ludovic Righetti
2019
Pré-publication, Document de travail hal-02310082v1
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An analytical model of rolling contact and its application to the modeling of bipedal locomotion

 Justin Carpentier , Andrea del Prete , Nicolas Mansard , Jean-Paul Laumond
IMA Conference on Mathematics of Robotics, Sep 2015, Oxford, United Kingdom
Communication dans un congrès hal-01182733v1
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Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D project

 Justin Carpentier , Andrea del Prete , Steve Tonneau , Thomas Flayols , Florent Forget , et al.
RSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p
Communication dans un congrès hal-01543060v1
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2PAC: Two Point Attractors for Center of Mass Trajectories in Multi Contact Scenarios

 Steve Tonneau , Pierre Fernbach , Andrea del Prete , Julien Pettré , Nicolas Mansard
ACM Transactions on Graphics, 2018, 37 (5), pp.176. ⟨10.1145/3213773⟩
Article dans une revue hal-01609055v2
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Simulation aided co-design for robust robot optimization

 Gabriele Fadini , Thomas Flayols , Andrea del Prete , Philippe Souères
IEEE Robotics and Automation Letters, 2022, 7 (4), pp.11306 - 11313. ⟨10.1109/LRA.2022.3200142⟩
Article dans une revue hal-03592085v3
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