Contact-Aware Morphology Optimization via Physically Consistent Differentiable Simulation.

Carlotta Sartore

Filippo Luca Ferretti Diego Ferigo Alessandro Croci Carlotta Sartore Omar G. Younis Silvio Traversaro Daniele Pucci Contact-Aware Morphology Optimization via Physically Consistent Differentiable Simulation. 2026 May 6456-6463 11 IEEE Robotics Autom. Lett. 5 https://doi.org/10.1109/LRA.2026.3678125 db/journals/ral/ral11.html#FerrettiFCSYTP26 streams/journals/ral

Carlotta Sartore Mohamed Elobaid Lorenzo Rapetti Giulio Romualdi Stefano Dafarra Nicola A. Piga Ines Sorrentino Paolo Maria Vicecone Silvio Traversaro Ugo Pattacini Luca Fiorio Francesco Draicchio Giovanna Tranfo Lorenzo Natale Marco Maggiali Daniele Pucci Towards Shared Embodied Intelligence in Humanoid Robots through Optimization Development and Testing of the Human Aware ergoCub Robot. 2026 May abs/2605.26991 CoRR https://doi.org/10.48550/arXiv.2605.26991 db/journals/corr/corr2605.html#abs-2605-26991 streams/journals/corr

Akhil Sathuluri Carlotta Sartore Stefano Dafarra Silvio Traversaro Markus Zimmermann Daniele Pucci Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid Robot Walking. 4348-4355 2025 May 10 IEEE Robotics Autom. Lett. 5 https://doi.org/10.1109/LRA.2025.3549660 db/journals/ral/ral10.html#SathuluriSDTZP25 streams/journals/ral

Carlotta Sartore Silvio Traversaro Daniele Pucci Multi-Objective Optimization of Humanoid Robot Hardware and Control for Multiple Tasks via Genetic Algorithms. 1116-1123 2025 IROS https://doi.org/10.1109/IROS60139.2025.11246748 conf/iros/2025 db/conf/iros/iros2025.html#SartoreTP25 streams/conf/iros

Stefano Dafarra Ugo Pattacini Giulio Romualdi Lorenzo Rapetti Riccardo Grieco Kourosh Darvish Gianluca Milani Enrico Valli Ines Sorrentino Paolo Maria Viceconte Alessandro Scalzo Silvio Traversaro Carlotta Sartore Mohamed Elobaid Nuno Guedelha Connor W. Herron Alexander Leonessa Francesco Draicchio Giorgio Metta Marco Maggiali Daniele Pucci iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots. 2024 January 9 Sci. Robotics 86 https://doi.org/10.1126/scirobotics.adh3834 https://www.wikidata.org/entity/Q129496879 db/journals/scirobotics/scirobotics9.html#DafarraPRRGDMVSVSTSEGHLDMMP24

Carlotta Sartore Marco Rando Giulio Romualdi Cesare Molinari Lorenzo Rosasco Daniele Pucci Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques. 996-1003 2024 Humanoids https://doi.org/10.1109/Humanoids58906.2024.10769876 conf/humanoids/2024 db/conf/humanoids/humanoids2024.html#SartoreRRMRP24

Carlotta Sartore Marco Rando Giulio Romualdi Cesare Molinari Lorenzo Rosasco Daniele Pucci Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques. 2024 abs/2409.18649 CoRR https://doi.org/10.48550/arXiv.2409.18649 db/journals/corr/corr2409.html#abs-2409-18649 streams/journals/corr

Carlotta Sartore Lorenzo Rapetti Fabio Bergonti Stefano Dafarra Silvio Traversaro Daniele Pucci Codesign of Humanoid Robots for Ergonomic Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization. 1-8 2023 Humanoids https://doi.org/10.1109/Humanoids57100.2023.10375237 conf/humanoids/2023 db/conf/humanoids/humanoids2023.html#SartoreRBDTP23 Lorenzo Rapetti Carlotta Sartore Mohamed Elobaid Yeshasvi Tirupachuri Francesco Draicchio Tomohiro Kawakami Takahide Yoshiike Daniele Pucci A Control Approach for Human-Robot Ergonomic Payload Lifting. 7504-7510 2023 ICRA https://doi.org/10.1109/ICRA48891.2023.10161454 conf/icra/2023 db/conf/icra/icra2023.html#RapettiSETDKYP23

Lorenzo Rapetti Carlotta Sartore Mohamed Elobaid Yeshasvi Tirupachuri Francesco Draicchio Tomohiro Kawakami Takahide Yoshiike Daniele Pucci A Control Approach for Human-Robot Ergonomic Payload Lifting. 2023 abs/2305.08499 CoRR https://doi.org/10.48550/arXiv.2305.08499 db/journals/corr/corr2305.html#abs-2305-08499

Carlotta Sartore Lorenzo Rapetti Fabio Bergonti Stefano Dafarra Silvio Traversaro Daniele Pucci Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization. 2023 abs/2312.07459 CoRR https://doi.org/10.48550/arXiv.2312.07459 db/journals/corr/corr2312.html#abs-2312-07459

Carlotta Sartore Lorenzo Rapetti Daniele Pucci Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting. 722-729 2022 Humanoids https://doi.org/10.1109/Humanoids53995.2022.10000222 conf/humanoids/2022 db/conf/humanoids/humanoids2022.html#SartoreRP22

Carlotta Sartore Lorenzo Rapetti Daniele Pucci Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting. 2022 abs/2211.13503 CoRR https://doi.org/10.48550/arXiv.2211.13503 db/journals/corr/corr2211.html#abs-2211-13503

Carlotta Sartore Ricard Campos Josep Quintana Enrico Simetti Rafael García Giuseppe Casalino Control and Perception Framework for Deep Sea Mining Exploration. 6348-6353 2019 IROS https://doi.org/10.1109/IROS40897.2019.8967599 conf/iros/2019 db/conf/iros/iros2019.html#SartoreCQSGC19 Fabio Bergonti Ricard Campos Giuseppe Casalino Alessandro Croci Stefano Dafarra Kourosh Darvish Francesco Draicchio Mohamed Elobaid Diego Ferigo Filippo Luca Ferretti Luca Fiorio Rafael García Riccardo Grieco Nuno Guedelha Connor W. Herron Tomohiro Kawakami Alexander Leonessa Marco Maggiali Giorgio Metta Gianluca Milani Cesare Molinari Lorenzo Natale Ugo Pattacini Nicola A. Piga Daniele Pucci Josep Quintana Marco Rando Lorenzo Rapetti Giulio Romualdi Lorenzo Rosasco Akhil Sathuluri Alessandro Scalzo Enrico Simetti Ines Sorrentino Yeshasvi Tirupachuri Giovanna Tranfo Silvio Traversaro Enrico Valli Paolo Maria Vicecone Paolo Maria Viceconte Takahide Yoshiike Omar G. Younis Markus Zimmermann