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Lorenzo Rapetti

6 accepted papers

2026

Adaptive Non-Linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami +4
ICRA 2026poster

Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot’s dynamics, were shown to endow robots with a step-adjustment capability in reaction to smal…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots

Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami +4
RA-L 2025

Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot's dynamics, were shown to endow robots with a step-adjustment capability in reaction to smal

Cited by 10Source ↗Scholar ↗
2025

Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering

Evelyn D'Elia, Paolo Maria Viceconte, Lorenzo Rapetti, Diego Ferigo, Giulio Romualdi, Giuseppe L'Erario +2
IROS 2025

Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are limited by the amount of available motion data, and do not

Cited by 0Source ↗Scholar ↗
2023

A Control Approach for Human-Robot Ergonomic Payload Lifting

Lorenzo Rapetti, Carlotta Sartore, Mohamed Elobaid, Yeshasvi Tirupachuri, Francesco Draicchio, Tomohiro Kawakami +2
ICRA 2023poster

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control approach for human-robot collaboration based on human monitoring…

Cited by 10Source ↗Scholar ↗
2023

Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization

Mohamed Elobaid, Giulio Romualdi, Gabriele Nava, Lorenzo Rapetti, Hosameldin Awadalla Omer Mohamed, Daniele Pucci
ICRA 2023poster

In this paper we consider the problem of allowing a humanoid robot that is subject to a persistent disturbance, in the form of a payload-carrying task, to follow given planned footsteps. To solve this problem, we combine an online nonlinear centroidal Model Predictive Controller - MPC with a contact…

Cited by 9Source ↗code ↗Scholar ↗
2021

Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization

Lorenzo Rapetti, Yeshasvi Tirupachuri, Alberto Ranavolo, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci
ICRA 2021poster

Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple agents acting on a shared environment. In this paper we pres…

Cited by 12Source ↗Scholar ↗