I am an assistant professor in the Department of Electrical Engineering and Information Technologies at the University of Naples Federico II since January 2022. Besides, I am a member of the PRISMA Lab.
I got a Ph.D. degree in Information Technology and Electrical Engineering in July 2021, under the supervision of Prof. Vincenzo Lippiello. During my Ph.D., I collaborated with the Autonomous Systems Research Centre at The University of Newcastle (AUS). Before that, I obtained a Bachelor's and a Master's degree in Automation Engineering in January 2013 and September 2016, respectively.
My research interests include: legged robotics, soft robotics, robotics for logistics, robotics in agriculture, passivity-based control, and energy-shaping control.
Pierluigi Arpenti
pierluigi.arpenti@unina.it
University of Naples Federico II
Department of Electrical Engineering and Information Technologies
Building 3/A, Room 2.11
Via Claudio, 21, 80125
Napoli, Italy
Publications
Here is the list of my publications, divided by type and ordered from the most recent to the oldest.
- Robots Working in the Backroom: Depalletization of Mixed-Case Pallets. Pierluigi Arpenti, Riccardo Caccavale, Andrea Giuseppe Fontanelli, Vincenzo Lippiello, Gianmarco Paduano, Bruno Siciliano, Luigi Villani. Robotics for Intralogistics in Supermarkets and Retail Stores. Springer Tracts in Advanced Robotics, Volume 148, Pages 81-115
- A novel model analysis of the effects of upper body dynamics on passive dynamic biped walkers. Zhongqu Xie, Xue Gong, Pierluigi Arpenti, Rui Zou, Shichao Zhou, Wenling Zhang, Zutao Zhang, Yulin Wang. Multibody System Dynamics, Pages 1-23.
- Three-dimensional variable center of mass height biped walking using a new model and nonlinear model predictive control. Zhongqu Xie, Yulin Wang, Xiang Luo, Pierluigi Arpenti, Fabio Ruggiero, Bruno Siciliano. Mechanism and Machine Theory, Volume 197.
- Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances. Enrico Franco, Pierluigi Arpenti, Alejandro Donaire, Fabio Ruggiero. IEEE Control Systems Letters (L-CSS), Volume 8, Pages 568-573.
- Robotics goes PRISMA. Mario Selvaggio, Rocco Moccia, Pierluigi Arpenti, Riccardo Caccavale, Fabio Ruggiero, Jonathan Cacace, Fanny Ficuciello, Alberto Finzi, Vincenzo Lippiello, Luigi Villani, Bruno Siciliano. Robotica.
- Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances. Enrico Franco, Pierluigi Arpenti, Alejandro Donaire. International Journal of Robust and Nonlinear Control.
- A constructive methodology for the IDA-PBC of underactuated 2-dof mechanical systems with explicit solution of PDEs. Pierluigi Arpenti, Fabio Ruggiero, Vincenzo Lippiello. International Journal of Control, Automation and Systems, Volume 20, Issue 1, Pages 283-297.
- RGB-D recognition and localization of cases for robotic depalletizing in supermarkets. Pierluigi Arpenti, Riccardo Caccavale, Gianmarco Paduano, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Luigi Villani, Bruno Siciliano. IEEE Robotics and Automation Letters (RAL), Volume 5, Issue 4, Pages 6233-6238.
- A reconfigurable gripper for robotic autonomous depalletizing in supermarket logistics. Giuseppe Andrea Fontanelli, Gianmarco Paduano, Riccardo Caccavale, Pierluigi Arpenti, Vincenzo Lippiello, Luigi Villani, Bruno Siciliano. IEEE Robotics and Automation Letters (RAL), Volume 5, Issue 3, Pages 4612-4617.
- A flexible robotic depalletizing system for supermarket logistics. Riccardo Caccavale, Pierluigi Arpenti, Gianmarco Paduano, Andrea Fontanellli, Vincenzo Lippiello, Luigi Villani, Bruno Siciliano. IEEE Robotics and Automation Letters (RAL), Volume 5, Issue 3, Pages 4471-4476.
- Crutches-Like Bipedal Walker with a Reduced Number of Actuators. Riccardo Aliotta, Pierluigi Arpenti, Fabio Ruggiero. 2025 11th International Conference on Automation, Robotics, and Applications (ICARA).
- Sensorless Reduction of Cane Oscillations Aimed at Improving Robotic Grapevine Winter Pruning. Andrea Fimiani, Pierluigi Arpenti, Matteo Gatti, Fabio Ruggiero. 20th International Conference on Informatics in Control, Automation and Robotics.
- Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots. Pierluigi Arpenti, Alejandro Donaire, Fabio Ruggiero, Vincenzo Lippiello. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- Robust energy shaping for mechanical systems with dissipative forces and disturbances. Ainoor Teimoorzadeh, Alejandro Donaire, Pierluigi Arpenti, Fabio Ruggiero. 2022 European Control Conference (ECC).
- Energy pumping-and-damping for gait robustification of underactuated planar biped robots within the hybrid zero dynamics framework. Pierluigi Arpenti, Alejandro Donaire, Fabio Ruggiero, Vincenzo Lippiello. 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids).
- Interconnection and damping assignment passivity-based control for gait generation in underactuated compass-like robots. Pierluigi Arpenti, Fabio Ruggiero, Vincenzo Lippiello. 2020 IEEE International Conference on Robotics and Automation (ICRA).
- Gait generation for underactuated compass-like robots using dissipative forces in the controller. Matías Nacusse, Pierluigi Arpenti, Fabio Ruggiero, Vincenzo Lippiello. IFAC-PapersOnLine Volume 53, Issue 2, 2020, Pages 9023-9030.
- Control of the TORA system through the IDA-PBC without explicit solution of matching equations. Pierluigi Arpenti, Diana Serra, Fabio Ruggiero, Vincenzo Lippiello. 2019 Third IEEE International Conference on Robotic Computing (IRC).
- An Effective Robotic End-Effector Engagement Approach for Automated Grapevine Pruning on a Quadrupedal Manipulator. Juan David Gamba Camacho, Pierluigi Arpenti, Claudio Semini, Fabio Ruggiero. 2023 I-RIM Conference
- An Integrated Robotic Depalletizing System for Supermarkets’ Backrooms Pierluigi Arpenti, Riccardo Caccavale, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Gianmarco Paduano, Bruno Siciliano, Luigi Villani. 2021 I-RIM Conference
- Energy Shaping of Underactuated Systems via Interconnection and Damping Assignment Passivity-Based Control with Applications to Planar Biped Robots. Pierluigi Arpenti
Teaching
I am responsible for the following courses.
Robotics and Autonomous Sensors (module name: Robotics). Master's Degree in Precision Livestock Farming, Department of Veterinary Medicine and Animal Production, University of Naples Federico II.