Leonardo Lanari | Ricerc@Sapienza

Pubblicazioni

Titolo	Pubblicato in	Anno
Joint-level IS-MPC: a whole-body MPC with centroidal feasibility for humanoid locomotion	Proc. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)	2024
A decentralized cooperative transportation scheme for humanoid robots	Proc. 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2024)	2024
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