Andrea Del Prete

Address: LAAS-CNRS
7, avenue du Colonel Roche
31077 Toulouse Cedex 4
Tel: +33

NEWS: Since I left the group In December 2017, I moved my webpage to

Short Bio

Andrea Del Prete was born in Cesena (Italy) in 1984. He received his degree in Computer Engineering (with honors) from the 2nd faculty of the University of Bologna (Italy) in 2009. In March 2013 he got his PhD from the Cognitive Humanoids laboratory of the department of "Robotics Brain and Cognitive Sciences" in IIT, Genova. Since 2014 he has been a PostDoc at LAAS-CNRS in Toulouse, working on model-based control with HRP-2.

Research Interests

His research focuses on the use of optimization algorithms for control, planning and estimation of legged robots. He is interested in convex optimization, model predictive control, robust optimization, chance-constrained programming, joint torque control, capturability, multi-body dynamics, redundant and underactuated robots, reinforcement learning.


International Workshops


  • Regularized Hierarchical Differential Dynamic Programming. Mathieu Geisert, Andrea Del Prete, Nicolas Mansard, Francesco Romano and Francesco Nori. IEEE Transaction on Robotics (accepted for publication), 33(4):pp.819-833, 2017. (PDF) (BIBTEX)

  • High-slope Terrain Locomotion for Torque-Controlled Quadruped Robots. Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin Caldwell and Claudio Semini. Autonomous Robots, 40(5):pp.259-272, 2016. (PDF) (BIBTEX)

  • iCub Whole-Body Control through Force Regulation on Rigid Non-Coplanar Contacts. Francesco Nori, Silvio Traversaro, Jorhabib Eljaik, Francesco Romano, Andrea Del Prete and Daniele Pucci. Frontiers in Robotics and AI, 2(6):18, 2015. (PDF) (BIBTEX)

  • Whole-body Model-Predictive Control applied to the HRP-2 Humanoid. Jonas Koenemann, Andrea Del Prete, Yuval Tassa, Emanuel Todorov, Olivier Stasse, Maren Bennewitz and Nicolas Mansard. In Intelligent Robots and Systems (IROS 2015), IEEE International Conference on, page 8p., 2015. (PDF) (BIBTEX)

  • Control of Contact Forces: the Role of Tactile Feedback for Contact Localization. Andrea Del Prete, Francesco Nori, Giorgio Metta and Lorenzo Natale. In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012. (PDF) (BIBTEX)

  • Skin Spatial Calibration Using Force/Torque Measurements. Andrea Del Prete, Simone Denei, Lorenzo Natale, Fulvio Mastrogiovanni, Francesco Nori, Giorgio Cannata and Giorgio Metta. In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages 3694 - 3700, San Francisco, CA, 2011. (PDF) (BIBTEX)