Leonardo Lanari

49 papers A* 9A 6C 1Journal 20Unranked 13

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	A feasibility-driven MPC scheme for robust gait generation in humanoids. Robotics Auton. Syst. Nicola Scianca, Filippo M. Smaldone, Leonardo Lanari, Giuseppe Oriolo
2025	J	`jnl`	Humanoid Motion Generation in Complex 3D Environments. Robotics Diego Marussi, Michele Cipriano, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
2024	—	`conf`	A decentralized cooperative transportation scheme for humanoid robots. Humanoids Greta Gasbarrone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
2024	A	`conf`	Joint-Level IS-MPC: a Whole-Body MPC with Centroidal Feasibility for Humanoid Locomotion. IROS Tommaso Belvedere, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
2023	—	`conf`	Feasibility-Aware Plan Adaptation in Humanoid Gait Generation. Humanoids Michele Cipriano, Marcos R. O. A. Máximo, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
2023	J	`jnl`	Humanoid motion generation in a world of stairs. Robotics Auton. Syst. Michele Cipriano, Paolo Ferrari, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
2022	J	`jnl`	From Walking to Running: 3D Humanoid Gait Generation via MPC. Frontiers Robotics AI Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
2022	A	`conf`	Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation. IROS Andrew S. Habib, Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
2022	A*	`conf`	Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots. ICRA Marco Kanneworff, Tommaso Belvedere, Nicola Scianca, Filippo M. Smaldone, Leonardo Lanari, Giuseppe Oriolo
2021	J	`jnl`	A behavior-based framework for safe deployment of humanoid robots. Auton. Robots Nicola Scianca, Paolo Ferrari, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
2021	J	`jnl`	Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot With Uncertainty Minimization. IEEE Robotics Autom. Lett. Francesco Cursi, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, Petar Kormushev
2021	J	`jnl`	Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids. IEEE Robotics Autom. Lett. Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
2021	J	`jnl`	Linear-Quadratic Optimal Boundary Control of a One-Link Flexible Arm. IEEE Control. Syst. Lett. Andrea Cristofaro, Alessandro De Luca, Leonardo Lanari
2020	A*	`conf`	Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC. ICRA Manuel Beglini, Leonardo Lanari, Giuseppe Oriolo
2020	J	`jnl`	Capturability-Based Pattern Generation for Walking With Variable Height. IEEE Trans. Robotics Stéphane Caron, Adrien Escande, Leonardo Lanari, Bastien Mallein
2020	J	`jnl`	MPC for Humanoid Gait Generation: Stability and Feasibility. IEEE Trans. Robotics Nicola Scianca, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
2020	A*	`conf`	ZMP Constraint Restriction for Robust Gait Generation in Humanoids. ICRA Filippo M. Smaldone, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo
2019	J	`jnl`	A Multimode Teleoperation Framework for Humanoid Loco-Manipulation: An Application for the iCub Robot. IEEE Robotics Autom. Mag. Luigi Penco, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, Serena Ivaldi
2019	—	`conf`	An Integrated Motion Planner/Controller for Humanoid Robots on Uneven Ground. ECC Paolo Ferrari, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
2019	—	`conf`	Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances. Humanoids Filippo M. Smaldone, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo
2019	J	`jnl`	Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances. CoRR Filippo M. Smaldone, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo
2019	J	`jnl`	Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. IEEE Robotics Autom. Mag. Abderrahmane Kheddar, Máximo A. Roa, Pierre-Brice Wieber, François Chaumette, Fabien Spindler, Giuseppe Oriolo, Leonardo Lanari, Adrien Escande, Kevin Chappellet, Fumio Kanehiro, Patrice Rabaté, Stéphane Caron, Pierre Gergondet, Andrew I. Comport, Arnaud Tanguy, Christian Ott, Bernd Henze, George Mesesan, Johannes Englsberger
2019	J	`jnl`	MPC for Humanoid Gait Generation: Stability and Feasibility. CoRR Nicola Scianca, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
2019	J	`jnl`	Stable Torque Optimization for Redundant Robots Using a Short Preview. IEEE Robotics Autom. Lett. Khaled Al Khudir, Gaute Halvorsen, Leonardo Lanari, Alessandro De Luca
2018	J	`jnl`	Capturability-based Analysis, Optimization and Control of 3D Bipedal Walking. CoRR Stéphane Caron, Adrien Escande, Leonardo Lanari, Bastien Mallein
2018	—	`conf`	Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC SyRoCo Alessio Zamparelli, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
2017	—	`conf`	Gait generation via intrinsically stable MPC for a multi-mass humanoid model. Humanoids Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo
2017	—	`conf`	Humanoid gait generation for walk-to locomotion using single-stage MPC. Humanoids Ahmed Aboudonia, Nicola Scianca, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
2017	A	`conf`	MPC-based humanoid pursuit-evasion in the presence of obstacles. IROS Daniele De Simone, Nicola Scianca, Paolo Ferrari, Leonardo Lanari, Giuseppe Oriolo
2017	A*	`conf`	Real-time pursuit-evasion with humanoid robots. ICRA Marco Cognetti, Daniele De Simone, Federico Patota, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
2016	C	`conf`	Boundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model. RoboCup Leonardo Lanari, Oliver Urbann, Seth Hutchinson, Ingmar Schwarz
2016	—	`conf`	Intrinsically stable MPC for humanoid gait generation. Humanoids Nicola Scianca, Marco Cognetti, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
2016	A	`conf`	Optimal double support zero moment point trajectories for bipedal locomotion. IROS Leonardo Lanari, Seth Hutchinson
2016	A*	`conf`	Real-time planning and execution of evasive motions for a humanoid robot. ICRA Marco Cognetti, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
2015	A	`conf`	Inversion-based gait generation for humanoid robots. IROS Leonardo Lanari, Seth Hutchinson
2015	—	`conf`	Planning desired center of Mass and zero moment point trajectories for bipedal locomotion. Humanoids Leonardo Lanari, Seth Hutchinson
2014	—	`conf`	Boundedness issues in planning of locomotion trajectories for biped robots. Humanoids Leonardo Lanari, Seth Hutchinson, Luca Marchionni
2014	A*	`conf`	Manual guidance of humanoid robots without force sensors: Preliminary experiments with NAO. ICRA Marco Bellaccini, Leonardo Lanari, Antonio Paolillo, Marilena Vendittelli
2010	—	`conf`	Path following for an autonomous paraglider. CDC Chiara Toglia, Marilena Vendittelli, Leonardo Lanari
2007	—	`conf`	Hierarchical tracking implementation. CDC Leonardo Cavarischia, Leonardo Lanari
2003	J	`jnl`	A new separation result for a class of quadratic-like systems with application to Euler-Lagrange models. Autom. Gildas Besançon, Stefano Battilotti, Leonardo Lanari
1997	J	`jnl`	Adaptive disturbance attenuation with global stability for rigid and elastic joint robots. Autom. Stefano Battilotti, Leonardo Lanari
1997	J	`jnl`	On the Role of Passivity and Output Injection in the Output Feedback Stabilisation Problem: Application to Robot Control. Eur. J. Control Stefano Battilotti, Leonardo Lanari, Romeo Ortega
1996	A*	`conf`	Tracking with disturbance attenuation for rigid robots. ICRA Stefano Battilotti, Leonardo Lanari
1993	—	`conf`	Stability Analysis for Feedforward Approximations in the Control of Flexible Joint Robots. ICRA (3) Leonardo Lanari, Pierre Sicard, John T. Wen
1992	A*	`conf`	Control of redundant robots on cyclic trajectories. ICRA Alessandro De Luca, Leonardo Lanari, Giuseppe Oriolo
1991	A	`conf`	A family of asymptotically stable tracking control laws for flexible robots. IROS Leonardo Lanari, John T. Wen
1991	J	`jnl`	A sensitivity approach to optimal spline robot trajectories. Autom. Alessandro De Luca, Leonardo Lanari, Giuseppe Oriolo
1990	A*	`conf`	Exact modeling of the flexible slewing link. ICRA F. Bellezza, Leonardo Lanari, Giovanni Ulivi