Giuseppe Oriolo


Titolo Pubblicato in Anno
Multi-contact planning and control for humanoid robots: Design and validation of a complete framework ROBOTICS AND AUTONOMOUS SYSTEMS 2023
A Dynamics-Aware NMPC Method for Robot Navigation Among Moving Obstacles Lecture Notes in Networks and Systems 2023
Non-Prehensile Object Transportation via Model Predictive Non-Sliding Manipulation Control IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2023
Humanoid motion generation in a world of stairs ROBOTICS AND AUTONOMOUS SYSTEMS 2023
Dynamics-aware navigation among moving obstacles with application to ground and flying robots ROBOTICS AND AUTONOMOUS SYSTEMS 2023
Feasibility-Aware Plan Adaptation in Humanoid Gait Generation 2023 IEEE-RAS 22nd International Conference on Humanoid Robots 2023
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
Safe Robot Navigation in a Crowd Combining NMPC and Control Barrier Functions Proceedings of the IEEE Conference on Decision and Control 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


  • PE7_1
  • PE7_10


  • 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. 


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
legged locomotion
autonomous vehicle

Laboratori di ricerca

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