Pubblicazioni

Joint-level IS-MPC: a whole-body MPC with centroidal feasibility for humanoid locomotion

2024 - Proc. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
Belvedere, Tommaso; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe

A decentralized cooperative transportation scheme for humanoid robots

2024 - Proc. 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2024)
Gasbarrone, Greta; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe

Feasibility-Aware Plan Adaptation in Humanoid Gait Generation

2023 - 2023 IEEE-RAS 22nd International Conference on Humanoid Robots
Cipriano, Michele; Maximo, Marcos R. O. A.; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe

Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation

2022 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
Habib, Andrew S.; Smaldone, Filippo M.; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe

Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids

2021 - IEEE ROBOTICS AND AUTOMATION LETTERS
Smaldone, Filippo Maria; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe

On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning

2021 - IEEE ROBOTICS AND AUTOMATION LETTERS
Ferigo, D.; Camoriano, R.; Viceconte, P. M.; Calandriello, D.; Traversaro, S.; Rosasco, L.; Pucci, D.

ZMP Constraint Restriction for Robust Gait Generation in Humanoids

2020 - Proceedings - IEEE International Conference on Robotics and Automation
Smaldone, F. M.; Scianca, N.; Modugno, V.; Lanari, L.; Oriolo, G.

Robust MPC-Based Gait Generation in Humanoids

2020 - Proceedings of I-RIM 2020
Smaldone, Filippo M.; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe

Learning Robust Task Priorities of QP-Based Whole-Body Torque-Controllers

2018 - 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
Charbonneau, Marie; Modugno, Valerio; Nori, Francesco; Oriolo, Giuseppe; Pucci, Daniele; Ivaldi, Serena

Real-time pursuit-evasion with humanoid robots

2017 - 2017 IEEE International Conference on Robotics and Automation (ICRA)
Cognetti, Marco; De Simone, Daniele; Patota, Federico; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe

MPC-based humanoid pursuit-evasion in the presence of obstacles

2017 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
De Simone, Daniele; Scianca, Nicola; Ferrari, Paolo; Lanari, Leonardo; Oriolo, Giuseppe

Intrinsically Stable MPC for Humanoid Gait Generation

2016 - 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
Scianca, Nicola; Cognetti, Marco; De Simone, Daniele; Lanari, Leonardo; Oriolo, Giuseppe

Inversion-based gait generation for humanoid robots

2015 - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
Lanari, Leonardo; Hutchinson, Seth

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