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ORCIDLeonardo Lanari
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2020 – today
- 2023
[j15]Michele Cipriano
, Paolo Ferrari, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo:
Humanoid motion generation in a world of stairs. Robotics Auton. Syst. 168: 104495 (2023)- [c27]Michele Cipriano, Marcos R. O. A. Máximo, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo:
Feasibility-Aware Plan Adaptation in Humanoid Gait Generation. Humanoids 2023: 1-8 - 2022
- [j14]Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo:
From Walking to Running: 3D Humanoid Gait Generation via MPC. Frontiers Robotics AI 9 (2022) - [c26]Marco Kanneworff, Tommaso Belvedere, Nicola Scianca, Filippo M. Smaldone, Leonardo Lanari, Giuseppe Oriolo:
Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots. ICRA 2022: 214-220 - [c25]Andrew S. Habib, Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo:
Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation. IROS 2022: 13167-13173 - 2021
- [j13]Nicola Scianca, Paolo Ferrari, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo:
A behavior-based framework for safe deployment of humanoid robots. Auton. Robots 45(4): 435-456 (2021) - [j12]Andrea Cristofaro, Alessandro De Luca, Leonardo Lanari:
Linear-Quadratic Optimal Boundary Control of a One-Link Flexible Arm. IEEE Control. Syst. Lett. 5(3): 833-838 (2021) - [j11]Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo:
Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids. IEEE Robotics Autom. Lett. 6(2): 1582-1589 (2021) - [j10]Francesco Cursi, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, Petar Kormushev:
Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot With Uncertainty Minimization. IEEE Robotics Autom. Lett. 6(2): 2642-2649 (2021) - 2020
- [j9]Stéphane Caron, Adrien Escande, Leonardo Lanari, Bastien Mallein:
Capturability-Based Pattern Generation for Walking With Variable Height. IEEE Trans. Robotics 36(2): 517-536 (2020) - [j8]Nicola Scianca, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo:
MPC for Humanoid Gait Generation: Stability and Feasibility. IEEE Trans. Robotics 36(4): 1171-1188 (2020) - [c24]Filippo M. Smaldone, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo:
ZMP Constraint Restriction for Robust Gait Generation in Humanoids. ICRA 2020: 8739-8745 - [c23]Manuel Beglini, Leonardo Lanari, Giuseppe Oriolo:
Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC. ICRA 2020: 8806-8812
2010 – 2019
- 2019
- [j7]Khaled Al Khudir, Gaute Halvorsen, Leonardo Lanari, Alessandro De Luca:
Stable Torque Optimization for Redundant Robots Using a Short Preview. IEEE Robotics Autom. Lett. 4(2): 2046-2053 (2019) - [j6]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:
Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. IEEE Robotics Autom. Mag. 26(4): 30-45 (2019) - [j5]Luigi Penco, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, Serena Ivaldi:
A Multimode Teleoperation Framework for Humanoid Loco-Manipulation: An Application for the iCub Robot. IEEE Robotics Autom. Mag. 26(4): 73-82 (2019) - [c22]Paolo Ferrari, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo:
An Integrated Motion Planner/Controller for Humanoid Robots on Uneven Ground. ECC 2019: 1598-1603 - [c21]Filippo M. Smaldone, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo:
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances. Humanoids 2019: 651-656 - [i3]Nicola Scianca, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo:
MPC for Humanoid Gait Generation: Stability and Feasibility. CoRR abs/1901.08505 (2019) - [i2]Filippo M. Smaldone, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo:
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances. CoRR abs/1907.06029 (2019) - 2018
- [c20]Alessio Zamparelli, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo:
Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC ⁎. SyRoCo 2018: 393-398 - [i1]Stéphane Caron, Adrien Escande, Leonardo Lanari, Bastien Mallein:
Capturability-based Analysis, Optimization and Control of 3D Bipedal Walking. CoRR abs/1801.07022 (2018) - 2017
- [c19]Ahmed Aboudonia, Nicola Scianca, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo:
Humanoid gait generation for walk-to locomotion using single-stage MPC. Humanoids 2017: 178-183 - [c18]Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo:
Gait generation via intrinsically stable MPC for a multi-mass humanoid model. Humanoids 2017: 547-552 - [c17]Marco Cognetti, Daniele De Simone, Federico Patota, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo:
Real-time pursuit-evasion with humanoid robots. ICRA 2017: 4090-4095 - [c16]Daniele De Simone, Nicola Scianca, Paolo Ferrari, Leonardo Lanari, Giuseppe Oriolo:
MPC-based humanoid pursuit-evasion in the presence of obstacles. IROS 2017: 5245-5250 - 2016
- [c15]Nicola Scianca, Marco Cognetti, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo:
Intrinsically stable MPC for humanoid gait generation. Humanoids 2016: 601-606 - [c14]Marco Cognetti, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo:
Real-time planning and execution of evasive motions for a humanoid robot. ICRA 2016: 4200-4206 - [c13]Leonardo Lanari, Seth Hutchinson:
Optimal double support zero moment point trajectories for bipedal locomotion. IROS 2016: 5162-5168 - [c12]Leonardo Lanari, Oliver Urbann, Seth Hutchinson, Ingmar Schwarz:
Boundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model. RoboCup 2016: 58-70 - 2015
- [c11]Leonardo Lanari, Seth Hutchinson:
Planning desired center of Mass and zero moment point trajectories for bipedal locomotion. Humanoids 2015: 637-642 - [c10]Leonardo Lanari, Seth Hutchinson:
Inversion-based gait generation for humanoid robots. IROS 2015: 1592-1598 - 2014
- [c9]Leonardo Lanari, Seth Hutchinson, Luca Marchionni:
Boundedness issues in planning of locomotion trajectories for biped robots. Humanoids 2014: 951-958 - [c8]Marco Bellaccini, Leonardo Lanari, Antonio Paolillo, Marilena Vendittelli:
Manual guidance of humanoid robots without force sensors: Preliminary experiments with NAO. ICRA 2014: 1184-1189 - 2010
- [c7]Chiara Toglia, Marilena Vendittelli, Leonardo Lanari:
Path following for an autonomous paraglider. CDC 2010: 4869-4874
2000 – 2009
- 2007
- [c6]Leonardo Cavarischia, Leonardo Lanari:
Hierarchical tracking implementation. CDC 2007: 3733-3738 - 2003
- [j4]Gildas Besançon, Stefano Battilotti, Leonardo Lanari:
A new separation result for a class of quadratic-like systems with application to Euler-Lagrange models. Autom. 39(6): 1085-1093 (2003)
1990 – 1999
- 1997
- [j3]Stefano Battilotti, Leonardo Lanari:
Adaptive disturbance attenuation with global stability for rigid and elastic joint robots. Autom. 33(2): 239-243 (1997) - [j2]Stefano Battilotti, Leonardo Lanari, Romeo Ortega:
On the Role of Passivity and Output Injection in the Output Feedback Stabilisation Problem: Application to Robot Control. Eur. J. Control 3(2): 92-103 (1997) - 1996
- [c5]Stefano Battilotti, Leonardo Lanari:
Tracking with disturbance attenuation for rigid robots. ICRA 1996: 1578-1583 - 1993
- [c4]Leonardo Lanari, Pierre Sicard, John T. Wen:
Stability Analysis for Feedforward Approximations in the Control of Flexible Joint Robots. ICRA (3) 1993: 990-995 - 1992
- [c3]Alessandro De Luca, Leonardo Lanari, Giuseppe Oriolo:
Control of redundant robots on cyclic trajectories. ICRA 1992: 500-506 - 1991
- [j1]Alessandro De Luca, Leonardo Lanari, Giuseppe Oriolo:
A sensitivity approach to optimal spline robot trajectories. Autom. 27(3): 535-539 (1991) - [c2]Leonardo Lanari, John T. Wen:
A family of asymptotically stable tracking control laws for flexible robots. IROS 1991: 973-977 - 1990
- [c1]F. Bellezza, Leonardo Lanari, Giovanni Ulivi:
Exact modeling of the flexible slewing link. ICRA 1990: 734-739
Coauthor Index
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