Nicola Scianca | 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
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