Leonardo Lanari | Ricerc@Sapienza

Pubblicazioni

Titolo	Pubblicato in	Anno
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
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