• 405 Citations

Research output per year

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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.

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Research Output

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
  • 5 Citations (Scopus)
    155 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
  • 2 Citations (Scopus)
    60 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

  • 5 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

  • 32 Citations (Scopus)
    8 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

  • 29 Citations (Scopus)
    3 Downloads (Pure)


    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