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nicola.scianca@uniroma1.it
Nicola Scianca
Ricercatore
Struttura:
DIPARTIMENTO DI INGEGNERIA INFORMATICA, AUTOMATICA E GESTIONALE -ANTONIO RUBERTI-
E-mail:
nicola.scianca@uniroma1.it
Pagina istituzionale corsi di laurea
Curriculum 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
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
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
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
MPC for Humanoid Gait Generation: Stability and Feasibility
IEEE TRANSACTIONS ON ROBOTICS
2020
ZMP Constraint Restriction for Robust Gait Generation in Humanoids
Proceedings - IEEE International Conference on Robotics and Automation
2020
Robust MPC-Based Gait Generation in Humanoids
Proceedings of I-RIM 2020
2020
Learning model predictive control for periodic repetitive tasks
2020 European Control Conference (ECC)
2020
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
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
2019
Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC
12th IFAC Symposium on Robot Control SYROCO 2018
2018
Real-time pursuit-evasion with humanoid robots
2017 IEEE International Conference on Robotics and Automation (ICRA)
2017
MPC-based humanoid pursuit-evasion in the presence of obstacles
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2017
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