Giuseppe Oriolo

Pubblicazioni

Titolo Pubblicato in Anno
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
Least Conservative Linearized Constraint Formulation for Real-Time Motion Generation Proceedings of the 21st IFAC World Congress 2020
Robust MPC-Based Gait Generation in Humanoids Proceedings of I-RIM 2020 2020
Learning Feedback Linearization Control Without Torque Measurements Proceedings of I-RIM 2020 2020
A general framework for task-constrained motion planning with moving obstacles ROBOTICA 2019
Force, orientation and position control in redundant manipulators in prioritized scheme with null space compliance CONTROL ENGINEERING PRACTICE 2019
An integrated motion planner/controller for humanoid robots on uneven ground 2019 18th European Control Conference (ECC 2019) 2019
Closed-loop MPC with Dense Visual SLAM - Stability through reactive stepping 2019 IEEE International Conference on Robotics and Automation 2019
A Multimode Teleoperation Framework for Humanoid Loco-Manipulation: A Demonstration Using the iCub Robot IEEE ROBOTICS AND AUTOMATION MAGAZINE 2019
Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases IEEE ROBOTICS AND AUTOMATION MAGAZINE 2019
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) 2019
Sensor-based whole-body planning/replanning for humanoid robots 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) 2019
An online learning procedure for feedback linearization control without torque measurements Proceedings of 2019 Conference on Robot Learning 2019
Hierarchical tracking task control in redundant manipulators with compliance control in the null-space MECHATRONICS 2018

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

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