Andrea Del Prete
Email: andre.delprete@gmail.com |
NEWS: Since I left the group In December 2017, I moved my webpage to https://andreadelprete.github.io
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.
Links
International Workshops
- Second Workshop on Perception and Planning for Legged Robot Locomotion in Challenging Domains, full-day workshop at ICRA 2017, Singapore. Organizers: D. Kanoulas, I. Havoutis, M. Fallon, A. Del Prete, E. Yoshida.
- Robust Optimization-Based Control and Planning for Legged Robots, full-day workshop at ICRA 2016, Stockholm, co-organized with Russ Tedrake, (MIT, USA) and Alexander Herzog (Max Planck IS, Germany)
- Torque-Controlled Humanoids, full-day workshop at Humanoids 2013 (October 15), Atlanta (Georgia, USA), co-organized with Luis Sentis (University of Texas, Austin)
Publications
- 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.
- Joint Position and Velocity Bounds in Discrete-Time Acceleration / Torque Control of Robot Manipulators. Andrea Del Prete. Robotics and Automation Letters (submitted to), 3(1):pp.281-288, 2017.
- An efficient acyclic contact planner for multiped robots. Steve Tonneau, Andrea Del Prete, Julien Pettr{é, Chonhyon Park, Dinesh Manocha and Nicolas Mansard, February 2016. (working paper or preprint).
- Robustness to Joint-Torque Tracking Errors in Task-Space Inverse Dynamics. Andrea Del Prete and Nicolas Mansard. IEEE Transaction on Robotics, 32(5):1091 - 1105, 2016.
- Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors. Andrea Del Prete, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse and Francesco Nori. International Journal of Humanoid Robotics, 13(01):1550044, 2016.
- 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.
- 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.
- Prioritized Motion-Force Control of Constrained Fully-Actuated Robots: "Task Space Inverse Dynamics". Andrea Del Prete, Francesco Nori, Giorgio Metta and Lorenzo Natale. Robotics and Autonomous Systems, 63:150-157, 2015.
- Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground. Nirmal Giftsun, Andrea Del Prete and Florent Lamiraux. In International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2017.
- Online Payload Identification for Quadruped Robots. Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin Caldwell and Claudio Semini. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (accepted), pages 2-4, 2017.
- Fast Algorithms to Test Robust Static Equilibrium for Legged Robots. Andrea Del Prete, Steve Tonneau and Nicolas Mansard. In Robotics and Automation (ICRA), IEEE International Conference on, pages pp. 1601-1607, 2016.
- Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics. Andrea Del Prete and Nicolas Mansard. In Robotics, Science and Systems (RSS), Rome, 2015.
- 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.
- Prioritized Optimal Control: a Hierarchical Differential Dynamic Programming approach. Francesco Romano, Andrea Del Prete, Nicolas Mansard and Francesco Nori. In Robotics and Automation (ICRA), IEEE International Conference on, 2015.
- Inertial parameters identification and joint torques estimation with proximal force / torque sensing. Silvio Traversaro, Andrea Del Prete, Serena Ivaldi and Francesco Nori. In Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015.
- Partial Force Control of Constrained Floating-Base Robots. Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta and Lorenzo Natale. In Intelligent Robots and Systems (IROS 2014), IEEE International Conference on, 2014.
- Prioritized Optimal Control. Andrea Del Prete, Francesco Romano, Lorenzo Natale, Giorgio Metta, Giulio Sandini and Francesco Nori. In Robotics and Automation (ICRA), IEEE International Conference on, 2014.
- Inertial Parameter Identification Including Friction and Motor Dynamics. Silvio Traversaro, Andrea Del Prete, Riccardo Muradore, Lorenzo Natale and Francesco Nori. In Humanoid Robots, 13th IEEE-RAS International Conference on, Atlanta, Georgia, 2013.
- Contact Force Estimations Using Tactile Sensors and Force / Torque Sensors. Andrea Del Prete, Lorenzo Natale, Francesco Nori and Giorgio Metta. In Human-Robot Interaction (HRI), workshop on Advances in Tactile Sensing and Touch based Human-Robot Interaction, Boston, USA, ACM/IEEE, pages 0-2, 2012.
- 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.
- 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.
Thesis
- Control of Contact Forces using Whole-Body Force and Tactile Sensors: Theory and Implementation on the iCub Humanoid Robot. Andrea Del Prete. PhD thesis, Italian Institute of Techonology and University of Genova, 2013.