Pierluigi Arpenti
University of Naples Federico II, Federico II University Hospital
Papers
10
Total Citations
128
H-Index
6
About
Pierluigi Arpenti is a robotics researcher whose work bridges two seemingly distinct domains: supermarket logistics and bipedal locomotion. His primary contributions lie in developing autonomous robotic systems for depalletizing—the process of unloading mixed-case pallets—and in advancing control strategies for underactuated walking robots. In logistics, Arpenti has created a complete perception-to-grasp pipeline, using RGB-D cameras to detect, recognize, and localize heterogeneous cases, paired with a reconfigurable gripper that adapts to different box sizes. His three most-cited papers on this topic (29, 27, and 26 citations respectively) have collectively shaped how small facilities like supermarkets can adopt flexible automation without overhauling existing workflows. On the locomotion side, Arpenti has made notable theoretical contributions to passivity-based control, particularly through Interconnection and Damping Assignment (IDA-PBC), where he developed constructive methodologies for solving the partial differential equations that govern underactuated systems. His work on energy pumping-and-damping has improved gait robustness in compass-like biped robots, and his recent 2024 paper on nonlinear model predictive control for variable center-of-mass walking (12 citations) demonstrates his ongoing push toward more natural, energy-efficient bipedal motion.
Research Focus
Key Achievements
Top Papers
- 1
- 2A Flexible Robotic Depalletizing System for Supermarket Logistics27 citations · 2020
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- 10Robots Working in the Backroom: Depalletization of Mixed-Case Pallets1 citations · 2022