If you made any changes in Pure these will be visible here soon.

Personal profile


“My research focus is on bringing robots to a new level of dexterity, so that many human beings can be relieved from performing repetitive and non-ergonomic tasks.”

Research profile

Alessandro Saccon is an Assistant Professor in nonlinear control and robotics at the Mechanical Engineering Department, Eindhoven University of Technology (TU/e). His areas of expertise include nonlinear control and estimation, robotics, numerical optimal control and optimization, multi-body mechanics, and geometric mechanics.

Alessandro’s research interests are focused on modeling, analysis, and control of complex and highly dynamical robotic and mechatronic systems. His current research efforts are directed toward the development and validation of innovative control strategies for robotic systems with multiple intermittent contacts, with application in the field of dynamic robot manipulation and locomotion.

Academic background

Alessandro Saccon received a PhD in control system theory from the University of Padova, Italy, in 2006. He also holds a degree with honors in computer engineering from the same University. Following his PhD, he held a research and development position at the University of Padova in collaboration with racing motorcycle company Ducati Corse. From 2009 to early 2013, he held a post-doctoral research position at the Instituto Superior Técnico, Lisbon, Portugal working on geometric numerical methods for solving trajectory optimization problems.

Alessandro has held visiting positions at the University of Colorado, Boulder (2003 and 2005), at the California Institute of Technology (2006), and at the Australian National University (2011). He is the author and co-author of more than 50 peer-reviewed scientific publications across his various research areas.

Fingerprint Dive into the research topics where Alessandro Saccon is active. These topic labels come from the works of this person. Together they form a unique fingerprint.

Trajectories Engineering & Materials Science
Hybrid systems Engineering & Materials Science
Motorcycles Engineering & Materials Science
Optimal Control Mathematics
Controllers Engineering & Materials Science
Projection Operator Mathematics
Motion planning Engineering & Materials Science
Robots Engineering & Materials Science

Network Recent external collaboration on country level. Dive into details by clicking on the dots.

Research Output 2003 2020

5 Citations (Scopus)
153 Downloads (Pure)

Direct force-reflecting two-layer approach for passive bilateral teleoperation with time delays

Heck, D., Saccon, A., Beerens, R. & Nijmeijer, H., 1 Feb 2018, In : IEEE Transactions on Robotics. 34, 1, p. 194-206 13 p., 8268547.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
Remote control
Time delay
2 Citations (Scopus)
57 Downloads (Pure)

On centroidal dynamics and integrability of average angular velocity

Saccon, A., Traversaro, S., Nori, F. & Nijmeijer, H., 2017, In : IEEE Robotics and Automation Letters. 2, 2, p. 943-950

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
Angular velocity
4 Citations (Scopus)
8 Downloads (Pure)

Control of humanoid robot motions with impacts: numerical experiments with reference spreading control

Rijnen, M. W. L. M., de Mooij, E. B. C., Traversaro, S., Nori, F., van de Wouw, N., Saccon, A. & Nijmeijer, H., 21 Jul 2017, ICRA 2017 - IEEE International Conference on Robotics and Automation, 29 May - 3 June 2017, Singapore. Piscataway: Institute of Electrical and Electronics Engineers, p. 4102-4107 6 p. 7989472

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

29 Citations (Scopus)
8 Downloads (Pure)

Energy-optimal motion planning for multiple robotic vehicles with collision avoidance

Häusler, A. J., Saccon, A., Aguiar, A. P., Hauser, J. & Pascoal, A. M., 1 May 2016, In : IEEE Transactions on Control Systems Technology. 24, 3, p. 867-883 17 p., 7308015.

Research output: Contribution to journalArticleAcademicpeer-review

Collision avoidance
Motion planning
29 Citations (Scopus)
3 Downloads (Pure)

Optimal control on lie groups : the projection operator approach

Saccon, A., Hauser, J. & Aguiar, A. P., 2013, In : IEEE Transactions on Automatic Control. 58, 9, p. 2230-2245 16 p.

Research output: Contribution to journalArticleAcademicpeer-review

Lie groups
Riccati equations
Vector spaces
Mathematical operators
Nonlinear systems


Claudio Maffezzoni best PhD thesis award

Alessandro Saccon (Recipient), 2006

Prize: OtherCareer, activity or publication related prizes (lifetime, best paper, poster etc.)Scientific


Student theses

Flexible ILC with non-causal rational basis functions: application on an industrial printer

Author: Isil, G., 28 Sep 2017

Supervisor: Blanken, L. (Supervisor 1), Oomen, T. (Supervisor 2), Boeren, F. (Supervisor 2), Saccon, A. (Supervisor 2) & Steinbuch, M. (Supervisor 2)

Student thesis: Master

Hybrid trajectory tracking for hopping robots

Author: van Rijn, A., 27 Oct 2016

Supervisor: Saccon, A. (Supervisor 1), van de Molengraft, M. (Supervisor 2), Rijnen, M. (Supervisor 2) & Nijmeijer, H. (Supervisor 2)

Student thesis: Master

Hybrid trajectory tracking for impact motions of humanoid robots

Author: de Mooij, E., 31 Aug 2016

Supervisor: van de Wouw, N. (Supervisor 1), Saccon, A. (Coach), Traversaro, S. (Coach) & Rijnen, M. (Coach)

Student thesis: Master

Lazy motion planning for robotic manipulators

Author: Andrien, A., 28 Sep 2016

Supervisor: Bruyninckx, H. (Supervisor 1), van de Molengraft, M. (Supervisor 2) & Saccon, A. (Supervisor 2)

Student thesis: Master

Model predictive control applied to articulated robots

Author: Offermans, R., 24 Nov 2016

Supervisor: Bruyninckx, H. (Supervisor 1), van de Molengraft, M. (Supervisor 2), Saccon, A. (Supervisor 2), Lunenburg, J. (External coach) & Sandee, J. (External coach)

Student thesis: Master