Leonardo Lanari

Pubblicazioni

Titolo Pubblicato in Anno
Humanoid motion generation in a world of stairs ROBOTICS AND AUTONOMOUS SYSTEMS 2023
CADUCEO: A Platform to Support Federated Healthcare Facilities through Artificial Intelligence HEALTHCARE 2023
Feasibility-Aware Plan Adaptation in Humanoid Gait Generation 2023 IEEE-RAS 22nd International Conference on Humanoid Robots 2023
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
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
MPC-based gait generation for humanoids: From walking to running 2021 I-RIM Conference 2021
Capturability-Based Pattern Generation for Walking with Variable Height IEEE TRANSACTIONS ON ROBOTICS 2020
MPC for Humanoid Gait Generation: Stability and Feasibility IEEE TRANSACTIONS ON ROBOTICS 2020
Linear-quadratic optimal boundary control of a one-link flexible arm IEEE CONTROL SYSTEMS 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
Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot Proceedings of the 21st IFAC World Congress 2020
Robust MPC-Based Gait Generation in Humanoids Proceedings of I-RIM 2020 2020
Stable Torque Optimization for Redundant Robots Using a Short Preview IEEE ROBOTICS AND AUTOMATION LETTERS 2019
An integrated motion planner/controller for humanoid robots on uneven ground 2019 18th European Control Conference (ECC 2019) 2019

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