Giuseppe Oriolo | Ricerc@Sapienza

Pubblicazioni

Titolo	Pubblicato in	Anno
Maintaining balance of mobile manipulators for safe pick-up tasks	Proc. 18th International Conference on Control, Automation, Robotics and Vision (ICARCV 2024)	2024
A vision-based control scheme for safe navigation in a crowd	Proc. 17th International Workshop on Human-Friendly Robotics	2024
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
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

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

Progetti di Ricerca

Laboratori di ricerca

DIAG Robotics Lab