Papers
10
Total Citations
162
H-Index
8
About
Lorenzo Rapetti is a robotics researcher whose work sits at the intersection of humanoid robotics, human-robot collaboration, and motion control. Based at the Istituto Italiano di Tecnologia, his research spans avatar systems, ergonomic physical interaction, inverse kinematics, and legged locomotion — areas where he has made consistent and recognized contributions. His most celebrated work, the iCub3 avatar system (2024, 60 citations), demonstrates how human operators can achieve full immersive embodiment of a humanoid robot, pushing the frontier of teleoperation and remote presence technology. Complementing this, his 2020 paper on dynamical inverse kinematics (31 citations) established a real-time model-based framework for tracking highly articulated human motion — a foundational tool for many human-robot interaction pipelines. Rapetti has also made notable strides in ergonomic human-robot collaboration, developing control strategies and co-design methodologies that optimize both robot hardware and behavior to reduce physical strain on human workers. His more recent work on nonlinear centroidal MPC for legged robots (2025, 12 citations) signals a growing engagement with robust locomotion and predictive control. Across fewer than a decade of publications, Rapetti has established himself as a versatile and forward-thinking contributor to modern humanoid robotics research.
Research Focus
Key Achievements
Top Papers
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- 2Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics31 citations · 2020
- 3A Control Approach for Human-Robot Ergonomic Payload Lifting12 citations · 2023
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- 10Whole-Body Geometric Retargeting for Humanoid Robots3 citations · 2019