Giuseppe Oriolo | Ricerc@Sapienza

Pubblicazioni

Titolo	Pubblicato in	Anno
On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics	IEEE ROBOTICS AND AUTOMATION LETTERS	2022
ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots	IEEE ROBOTICS AND AUTOMATION LETTERS	2022
Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots	2022 IEEE International Conference on Robotics and Automation	2022
An Intrinsically Stable MPC Approach for Anti-Jackknifing Control of Tractor-Trailer Vehicles	IEEE/ASME TRANSACTIONS ON MECHATRONICS	2022
From Walking to Running: 3D Humanoid Gait Generation via MPC	FRONTIERS IN ROBOTICS AND AI	2022
Real-Time Motion Generation for Mobile Manipulators via NMPC with Balance Constraints	2022 30th Mediterranean Conference on Control and Automation	2022
Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation	2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)	2022
Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids	IEEE ROBOTICS AND AUTOMATION LETTERS	2021
Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot with Uncertainty Minimization	IEEE ROBOTICS AND AUTOMATION LETTERS	2021
A behavior-based framework for safe deployment of humanoid robots	AUTONOMOUS ROBOTS	2021
Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC	IEEE ROBOTICS AND AUTOMATION LETTERS	2021
MPC-based gait generation for humanoids: From walking to running	2021 I-RIM Conference	2021
Wheeled robots	Encyclopedia of Systems and Control, 2nd Edition	2020
MPC for Humanoid Gait Generation: Stability and Feasibility	IEEE TRANSACTIONS ON ROBOTICS	2020
Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs	Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), 2020	2020
An Opportunistic Strategy for Motion Planning in the Presence of Soft Task Constraints	IEEE ROBOTICS AND AUTOMATION LETTERS	2020
Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC	Proceedings - IEEE International Conference on Robotics and Automation	2020
ZMP Constraint Restriction for Robust Gait Generation in Humanoids	Proceedings - IEEE International Conference on Robotics and Automation	2020
An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay	Proceedings of the 16th International Conference on Control, Automation, Robotics and Vision	2020
Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot	Proceedings of the 21st IFAC World Congress	2020

ERC

PE7_1
PE7_10

KET

Advanced manufacturing & processing

Interessi di ricerca

Humanoid robots; UAVs; mobile robots; visual motion control; multi-robot systems; sensor-based localization and navigation; motion planning in the presence of obstacles; learning control in robotic systems; planning and control for kinematically redundant robots and nonholonomic robots; assistive robotics.

Keywords

Robotics

Robot control

Human-Robot collaboration

distributed multi-robot coordination

Motion planning

humanoid robots

redundant robots

Mobile robots

image based visual servoing

Nonholonomic constraints

Human-robot interaction

motion control

UAV

legged locomotion

autonomous vehicle

Progetti di Ricerca

Laboratori di ricerca

DIAG Robotics Lab