Enrico Mingo Hoffman

Bio

Dr. Enrico Mingo Hoffman is an ISFP (Inria Starting Faculty Position) researcher in INRIA Nancy Grand-Est and LORIA, working in the project-team HUCEBOT. His research is focused on planning and control of generic robotic systems, with particular emphasis on underactuated multi-limbed robots with many degrees of freedom, such as humanoids. He is particularly interested in model-based optmization techniques and robotics-oriented software tools.

Before INRIA, He was a post-doc at the Istituto Italiano di Tecnologia (IIT) in Genoa, Italy, in the Humanoids and Human Centered Mechatronics (HHCM) Research Line, with Nikos G. Tsagarakis, and the Advanced Robotics (ADVR) Department, with Prof. Darwin G. Caldwell. He obtained my Ph.D. at IIT and University of Genoa in 2016. he also has experience in the industry, having worked as a senior researcher in humanoid robotics at PAL Robotics in Barcelona, Spain, and later as the Principal Investigator (PI) of the Unmanned Systems and Robotics group at Leonardo S.p.A. in Genoa, Italy.

He has been serving as Associate Editor of the IEEE Robotics and Automation Letters (2021 – 2024) and the SAGE International Journal of Robotics Research (2023 – ongoing). He is serving as Main Co-Chair and representative for the primary region of Europe for the IEEE Technical Committee on Whole-Body Control from 2021. He served as Local Chair of IEEE-RAS HUMANOIDS 2024.

In 2015, he participated in the DARPA Robotics Challenge finals within the WALK-MAN Team being responsible for the whole-body control and simulation of the humanoid robot WALK-MAN.

Research Interests

Humanoid Robots
Planning and Control
Model-Based Optimization

Projects

PEPR O2R “Robotique Organique” – AS3 “Decision, Learning and Social Interaction” (2024-2031)
Horizon Europe – euROBIN – European ROBotics and AI Network (2022 – 2026)
ANR – MeRLin – Multi-limbed Robots empowered by whole-body Loco-manipulation (2025 – 2028)
EUROBENCH – EUropean ROBotics framework for bipedal locomotion bENCHmarking (2018 – 2022)
ROBOT TELEOPERATIVO (2017 – 2020)
CogIMon – Cognitive Interaction in Motion (2015 – 2019)
CENTAURO – Robust Mobility and Dexterous Manipulation in Disaster Response by Fullbody Telepresence in a Centaur-like Robot (2015 – 2018)
WALK-MAN – Whole-Whole-body Adaptive Locomotion and Manipulation (2013 – 2017)

Publications

Publications HAL

2025

Journal articles

titre: A Stable Method for Task Priority Adaptation in Quadratic Programming via Reinforcement Learning
auteur: Andrea Testa, Marco Laghi, Edoardo Del Bianco, Gennaro Raiola, Enrico Mingo Hoffman, Arash Ajoudani
article: Robotics and Computer-Integrated Manufacturing, 2025, 91, pp.102857. ⟨10.1016/j.rcim.2024.102857⟩
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titre: Benchmarking Standing Stability for Bipedal Robots
auteur: Juan A. Castano, Eugenio Manuel Espuela, Jaime Ramos Rojas, Enrico Mingo Hoffman, Chengxu Zhou
article: IEEE Access, 2025, pp.1-1. ⟨10.1109/ACCESS.2025.3529191⟩
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Preprints, Working Papers, …

titre: AHMP: Agile Humanoid Motion Planning With Contact Sequence Discovery
auteur: Ioannis Tsikelis, Evangelos Tsiatsianas, Chairi Kiourt, Serena Ivaldi, Konstantinos Chatzilygeroudis, Enrico Mingo Hoffman
article: 2025
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titre: Learning to Walk with Hybrid Serial-Parallel Linkages: a Case Study on the Kangaroo Robot
auteur: Fabio Amadio, Hongbo Li, Lorenzo Uttini, Serena Ivaldi, Valerio Modugno, Enrico Mingo Hoffman
article: 2025
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titre: CPC: Cascaded Predictive Control
auteur: Nicola Scianca, Enrico Mingo Hoffman
article: 2025
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titre: Experimental Validation of Open-Loop Walking based on Whole-Body Model Predictive Control
auteur: Luca Rossini, Francesco Ruscelli, Quentin Rouxel, Nikos Tsagarakis, Enrico Mingo Hoffman
article: 2025
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2024

Journal articles

titre: Modeling and Numerical Analysis of Kangaroo Lower Body based on Constrained Dynamics of Hybrid Serial-Parallel Floating-Base Systems
auteur: Enrico Mingo Hoffman, Andrea Curti, Narcis Miguel, Sai Kishor Kothakota, Alberto Molina, Adria Roig, Luca Marchionni
article: Robotics and Autonomous Systems, 2024, 182, pp.104827. ⟨10.1016/j.robot.2024.104827⟩
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titre: The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints
auteur: Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
article: IEEE Robotics and Automation Magazine, 2024, pp.2-12. ⟨10.1109/MRA.2024.3487395⟩
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titre: Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations
auteur: Francesco Ruscelli, Luca Rossini, Enrico Mingo Hoffman, Lorenzo Baccelliere, Arturo Laurenzi, Luca Muratore, Davide Antonucci, Stefano Cordasco, Nikos G. Tsagarakis
article: IEEE Robotics and Automation Magazine, 2024, pp.2-13. ⟨10.1109/MRA.2024.3505773⟩
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Other publications

titre: OpenSoT: a Software Tool for Advanced Whole-Body Control
auteur: Enrico Mingo Hoffman
article: 2024
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Preprints, Working Papers, …

titre: Whole-Body Motion Control in Orbital Scenarios through Centroidal Momentum Conservation
auteur: Enrico Mingo Hoffman, Antonio Paolillo, Jean-Baptiste Mouret, Serena Ivaldi
article: 2024
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titre: From Vocal Instructions to Household Tasks: The Inria Tiago++ in the euROBIN Service Robots Coopetition
auteur: Fabio Amadio, Clemente Donoso Krauss, Dionis Totsila, Raphael Lorenzo, Quentin Rouxel, Olivier Rochel, Enrico Mingo Hoffman, Jean-Baptiste Mouret, Serena Ivaldi
article: 2024
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2023

Conference papers

titre: A Real-Time Approach for Humanoid Robot Walking including Dynamic Obstacles Avoidance
auteur: Luca Rossini, Enrico Mingo Hoffman, Seung Hyeon Bang, Luis Sentis, Nikos G Tsagarakis
article: IEEE International Conference on Humanoid Robots (HUMANOIDS) 2023, Dec 2023, Austin, United States
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titre: A Real-Time Approach for Humanoid Robot Walking including Dynamic Obstacles Avoidance
auteur: Luca Rossini, Enrico Mingo Hoffman, Seung Hyeon Bang, Luis Sentis, Nikos G Tsagarakis
article: IEEE International Conference on Humanoid Robots (HUMANOIDS) 2023, Dec 2023, Austin, United States. pp.1-8, ⟨10.1109/Humanoids57100.2023.10375191⟩
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Preprints, Working Papers, …

titre: CARPE-ID: Continuously Adaptable Re-identification for Personalized Robot Assistance
auteur: Federico Rollo, Andrea Zunino, Nikolaos Tsagarakis, Enrico Mingo Hoffman, Arash Ajoudani
article: 2023
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2022

Conference papers

titre: On the Hardware Design and Control Architecture of the Humanoid Robot Kangaroo
auteur: Adria Roig, Sai Kishor Kothakota, Narcis Miguel, Pierre Fernbach, Enrico Mingo Hoffman, Luca Marchionni
article: 6th Workshop on Legged Robots during the International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphie, PA, United States
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titre: Whole-Body Kinematics Modeling in presence of Closed-Linkages: application to the Kangaroo Biped Robot
auteur: Enrico Mingo Hoffman, Sai Kothakota, Adria Moreno, Andrea Curti, Narcis Miguel, Luca Marchionni
article: International Conference on Robotics and Automation (ICRA) 2022, Workshop on “New frontiers of parallel robotics” (second edition), May 2022, Philadelpia, U.S. Virgin Islands
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2021

Conference papers

titre: Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers
auteur: Enrico Mingo Hoffman, Matteo Parigi Polverini, Arturo Laurenzi, Nikos G Tsagarakis
article: 2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi’an, China. pp.9826-9832, ⟨10.1109/ICRA48506.2021.9560802⟩
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titre: Exploiting visual servoing and centroidal momentum for whole-body motion control of humanoid robots in absence of contacts and gravity
auteur: Enrico Mingo Hoffman, Antonio Paolillo
article: 2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi’an, China. pp.2979-2985, ⟨10.1109/ICRA48506.2021.9560739⟩
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2020

Journal articles

titre: A simple yet effective whole-body locomotion framework for quadruped robots
auteur: Gennaro Raiola, Enrico Mingo Hoffman, Michele Focchi, Nikos G Tsagarakis, Claudio Semini
article: Frontiers in Robotics and AI, 2020
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2019

Journal articles

titre: Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality
auteur: Pouya Mohammadi, Enrico Mingo Hoffman, Niels Dehio, Milad S Malekzadeh, Martin Giese, Nikos G Tsagarakis, Jochen J Steil
article: IEEE Robotics and Automation Magazine, 2019, 26 (4), pp.83-93. ⟨10.1109/mra.2019.2940970⟩
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titre: Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids
auteur: Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos Tsagarakis
article: IEEE Robotics and Automation Letters, 2019, 4 (2), pp.1117-1124. ⟨10.1109/LRA.2019.2894379⟩
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titre: CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform
auteur: Navvab Kashiri, Stefano Cordasco, Paolo Guria, Alessio Margan, Nikos Tsagarakis, Lorenzo Baccelliere, Luca Muratore, Arturo Laurenzi, Zeyu Ren, Enrico Mingo Hoffman, Malgorzata Kamedula, Giuseppe Francesco Rigano, Jorn Malzahn
article: IEEE Robotics and Automation Letters, 2019, 4 (2), pp.1595-1602. ⟨10.1109/LRA.2019.2896758⟩
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Conference papers

titre: Reactive Walking Based on Upper-Body Manipulability: An application to Intention Detection and Reaction
auteur: Pouya Mohammadi, Enrico Mingo Hoffman, Luca Muratore, Nikos Tsagarakis, Jochen Steil
article: 2019 International Conference on Robotics and Automation (ICRA), May 2019, Montreal, Canada. pp.4991-4997, ⟨10.1109/ICRA.2019.8794309⟩
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titre: Whole-Body Stabilization for Visual-Based Box Lifting with the COMAN+ Robot
auteur: Arturo Laurenzi, Dimitrios Kanoulas, Enrico Mingo Hoffman, Luca Muratore, Nikos Tsagarakis
article: 2019 Third IEEE International Conference on Robotic Computing (IRC), Feb 2019, Naples, Italy. pp.445-446, ⟨10.1109/IRC.2019.00092⟩
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2018

Journal articles

titre: A mixed real-time robot hardware abstraction layer (R-HAL)
auteur: Giuseppe Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos Tsagarakis
article: Encyclopedia with Semantic Computing and Robotic Intelligence, 2018, 02 (01), pp.1850010. ⟨10.1142/S2529737618500107⟩
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Conference papers

titre: Robust Real-time Whole-Body Motion Retargeting from Human to Humanoid
auteur: Luigi Penco, Brice Clément, Valerio Modugno, Enrico Mingo Hoffman, Gabriele Nava, Daniele Pucci, Nikos Tsagarakis, Jean-Baptiste Mouret, Serena Ivaldi
article: HUMANOIDS 2018 – IEEE-RAS 18th International Conference on Humanoid Robots, Nov 2018, Beijing, China
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titre: Balancing Control through Post-Optimization of Contact Forces
auteur: Arturo Laurenzi, Enrico Mingo Hoffman, Matteo Parigi Polverini, Nikos G Tsagarakis
article: IEEE/RAS International Conference of Humanoid Robots, IEEE/RAS, Nov 2018, Beijing, China. pp.320-326, ⟨10.1109/HUMANOIDS.2018.8625013⟩
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titre: Quadrupedal walking motion and footstep placement through Linear Model Predictive Control
auteur: Arturo Laurenzi, Enrico Mingo Hoffman, Nikos Tsagarakis
article: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2018, Madrid, Spain. pp.2267-2273, ⟨10.1109/IROS.2018.8593692⟩
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titre: A Fail-Safe Semi-Centralized Impedance Controller: Validation on a Parallel Kinematics Ankle
auteur: Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos Tsagarakis
article: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2018, Madrid, Spain. pp.1-9, ⟨10.1109/IROS.2018.8594112⟩
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titre: Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles
auteur: Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Lorenzo Baccelliere, Navvab Kashiri, Darwin Caldwell, Nikos Tsagarakis
article: 2018 IEEE International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia. pp.5813-5820, ⟨10.1109/ICRA.2018.8460559⟩
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titre: Multi-Priority Cartesian Impedance Control based on Quadratic Programming Optimization
auteur: Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Nikos Tsagarakis, Darwin Caldwell
article: 2018 IEEE International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia. pp.309-315, ⟨10.1109/ICRA.2018.8462877⟩
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titre: A Whole Body Attitude Stabilizer for Hybrid Wheeled-Legged Quadruped Robots
auteur: Juan Castano, Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Malgorzata Karnedula, Nikos Tsagarakis
article: 2018 IEEE International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia. pp.706-712, ⟨10.1109/ICRA.2018.8462875⟩
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titre: An open-source architecture for simulation, execution and analysis of real-time robotics systems
auteur: Dennis Leroy Wigand, Pouya Mohammadi, Enrico Mingo Hoffman, Nikos Tsagarakis, Jochen Steil, Sebastian Wrede
article: 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), May 2018, Brisbane, Australia. pp.93-100, ⟨10.1109/SIMPAR.2018.8376277⟩
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titre: Towards A Robot Hardware Abstraction Layer (R-HAL) Leveraging the XBot Software Framework
auteur: Giuseppe Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos Tsagarakis
article: 2018 Second IEEE International Conference on Robotic Computing (IRC), Jan 2018, Laguna Hills, United States. pp.175-176, ⟨10.1109/IRC.2018.00036⟩
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Book sections

titre: Robot Dynamics Constraint for Inverse Kinematics
auteur: Enrico Mingo Hoffman, Alessio Rocchi, Nikos Tsagarakis, Darwin Caldwell
article: Advances in Robot Kinematics 2016, 4, Springer International Publishing, pp.275-283, 2018, Springer Proceedings in Advanced Robotics, ⟨10.1007/978-3-319-56802-7_29⟩
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2017

Journal articles

titre: WALK‐MAN: A High‐Performance Humanoid Platform for Realistic Environments
auteur: N. Tsagarakis, D. Caldwell, F. Negrello, W. Choi, L. Baccelliere, V.G. Loc, J. Noorden, L. Muratore, A. Margan, A. Cardellino, L. Natale, Enrico Mingo Hoffman, H. Dallali, N. Kashiri, J. Malzahn, J. Lee, P. Kryczka, D. Kanoulas, M. Garabini, M. Catalano, M. Ferrati, V. Varricchio, L. Pallottino, C. Pavan, A. Bicchi, A. Settimi, A. Rocchi, A. Ajoudani
article: Journal of Field Robotics, 2017, 34 (7), pp.1225-1259. ⟨10.1002/rob.21702⟩
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Conference papers

titre: Robot Control for Dummies: Insights and Examples using OpenSoT
auteur: Enrico Mingo Hoffman, Alessio Rocchi, Arturo Laurenzi, Nikos Tsagarakis
article: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), Nov 2017, Birmingham, United Kingdom. pp.736-741, ⟨10.1109/HUMANOIDS.2017.8246954⟩
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titre: XBotCore: A Real-Time Cross-Robot Software Platform
auteur: Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Alessio Rocchi, Darwin Caldwell, Nikos Tsagarakis
article: 2017 First IEEE International Conference on Robotic Computing (IRC), Apr 2017, Taichung, Taiwan. pp.77-80, ⟨10.1109/IRC.2017.45⟩
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2016

Journal articles

titre: The Walk-Man Robot Software Architecture
auteur: Mirko Ferrati, Alessandro Settimi, Luca Muratore, Alberto Cardellino, Alessio Rocchi, Enrico Mingo Hoffman, Corrado Pavan, Dimitrios Kanoulas, Nikos G Tsagarakis, Lorenzo Natale, Lucia Pallottino
article: Frontiers in Robotics and AI, 2016, 3, ⟨10.3389/frobt.2016.00025⟩
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Conference papers

titre: An Affordance-Based Pilot Interface for High-Level Control of Humanoid Robots in Supervised Autonomy
auteur: Peter Kaiser, Dimitrios Kanoulas, Markus Grotz, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Nikos Tsagarakis, Tamim Asfour
article: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.621-628, ⟨10.1109/HUMANOIDS.2016.7803339⟩
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2015

Conference papers

titre: Efficient Self-Collision Avoidance based on Focus of Interest for Humanoid Robots
auteur: Cheng Fang, Alessio Rocchi, Enrico Mingo Hoffman, Nikos Tsagarakis, Darwin Caldwell
article: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Nov 2015, Seoul, South Korea. pp.1060-1066, ⟨10.1109/HUMANOIDS.2015.7363500⟩
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titre: OpenSoT: a Whole-Body Control Library for the Compliant Humanoid Robot COMAN
auteur: Alessio Rocchi, Enrico Mingo Hoffman, Darwin Caldwell, Nikos Tsagarakis
article: 2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, United States. pp.6248-6253, ⟨10.1109/ICRA.2015.7140076⟩
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2014

Conference papers

titre: Upper-body impedance control with variable stiffness for a door opening task
auteur: Jinoh Lee, Arash Ajoudani, Enrico Mingo Hoffman, Alessio Rocchi, Alessandro Settimi, Mirko Ferrati, Antonio Bicchi, Nikolaos Tsagarakis, Darwin Caldwell
article: 2014 IEEE-RAS 14th International Conference on Humanoid Robots (Humanoids 2014), Nov 2014, Madrid, Spain. pp.713-719, ⟨10.1109/HUMANOIDS.2014.7041441⟩
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titre: A Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task
auteur: Arash Ajoudani, Jinoh Lee, Alessio Rocchi, Mirko Ferrati, Enrico Mingo Hoffman, Alessandro Settimi, Darwin. Caldwell, Antonio Bicchi, Nikos Tsagarakis
article: 2014 IEEE-RAS 14th International Conference on Humanoid Robots (Humanoids 2014), Nov 2014, Madrid, Spain. pp.664-670, ⟨10.1109/HUMANOIDS.2014.7041434⟩
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Book sections

titre: A Modular Approach for Remote Operation of Humanoid Robots in Search and Rescue Scenarios
auteur: Alessandro Settimi, Corrado Pavan, Valerio Varricchio, Mirko Ferrati, Enrico Mingo Hoffman, Alessio Rocchi, Kamilo Melo, Nikos Tsagarakis, Antonio Bicchi
article: Modelling and Simulation for Autonomous Systems, 8906, Springer International Publishing, pp.192-205, 2014, Lecture Notes in Computer Science, ⟨10.1007/978-3-319-13823-7_18⟩
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titre: Yarp Based Plugins for Gazebo Simulator
auteur: Enrico Mingo Hoffman, Silvio Traversaro, Alessio Rocchi, Mirko Ferrati, Alessandro Settimi, Francesco Romano, Lorenzo Natale, Antonio Bicchi, Francesco Nori, Nikos Tsagarakis
article: Modelling and Simulation for Autonomous Systems, 8906, Springer International Publishing, pp.333-346, 2014, Lecture Notes in Computer Science, ⟨10.1007/978-3-319-13823-7_29⟩
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2013

Conference papers

titre: Upper limb compliant strategy exploiting external physical constraints for humanoid fall avoidance
auteur: Enrico Mingo Hoffman, Nicolas Perrin, Nikos Tsagarakis, Darwin Caldwell
article: 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2013), Oct 2013, Atlanta, United States. pp.397-402, ⟨10.1109/HUMANOIDS.2013.7030005⟩
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