Leonardo Lanari

Leonardo Lanari

Associate Professor
Dipartimento di Ingegneria Informatica, Automatica e Gestionale (DIAG)
Università di Roma "La Sapienza"
via Ariosto 25, 00185 Roma, Italy

(Room A212)

+39 06 77274050 (tel)
+39 06 77274033 (fax)

Bio sketch

I received the "Laurea" degree in Electrical Engineering (1987) and the Ph.D. in Systems Engineering (1992), both from the University of Rome "La Sapienza". From August 1990 to April 1991 I was a Visiting Scholar at C.I.R.S.S.E. of the Rensselaer Polytechnic Institute in Troy (NY). From June 1992 to October 1998 I was a Research Associate (Ricercatore) while since November 1998 I am an Associate Professor of Automatic Control both with the Dipartimento di Ingegneria Informatica, Automatica e Gestionale (formerly known as Dipartimento di Informatica e Sistemistica) of the University of Rome "La Sapienza".

Research interests

Robotics (A description of some recent research is here)

Modeling and control of manipulators with elastic joints or flexible links
Output feedback stabilization and disturbance attenuation of mechanical systems
Humanoids
Control of Underactuated Robots: The Butterfly Robot
Remote Robotic Experiments: The REAL Lab

Control of Large Scale Systems

Hierarchical control
Geometric approach to control of Large Scale Systems

Recent publications

M. Cipriano, P. Ferrari, N. Scianca, L. Lanari, G. Oriolo, "Humanoid motion generation in a world of stairs," Robotics and Autonomous Systems, vol. 168, 104495, 2023 (pdf) (link).DOI:10.1016/j.robot.2023.104495
A. S. Habib, F. M. Smaldone, N. Scianca, L. Lanari, G. Oriolo, "Handling non-convex constraints in MPC-based humanoid gait generation", 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, pp. 13167-13173, 2022 (pdf). DOI:10.1109/IROS47612.2022.9981419
F. M. Smaldone, N. Scianca, L. Lanari, G. Oriolo, "From walking to running: 3D humanoid gait generation via MPC," Frontiers in Robotics and AI, vol. 9, pp. 1-18, 2022 (pdf). DOI:10.3389/frobt.2022.876613
M. Kanneworff, T. Belvedere, N. Scianca, F. M. Smaldone, L. Lanari, G. Oriolo, "Task-oriented generation of stable motions for wheeled inverted pendulum robots", 2022 IEEE International Conference on Robotics and Automation, Philadelphia, USA, pp. 214-220, 2022 (pdf). DOI:10.1109/ICRA46639.2022.981
F. Smaldone, N. Scianca, L. Lanari, G. Oriolo, "MPC-based gait generation for humanoids: from walking to running," 2021 I-RIM Conference, Rome, Italy (pdf). DOI: 10.5281/zenodo.5900605
N. Scianca, P. Ferrari, D. De Simone, L. Lanari, G. Oriolo, "A behavior-based framework for safe deployment of humanoid robots," Autonomous Robots, Autonomous Robots, vol. 45, no. 4, pp. 435-456, 2021 (pdf). DOI:10.1007/s10514-021-09978-5
F. M. Smaldone, N. Scianca, L. Lanari, G. Oriolo, " Feasibility-driven step timing adaptation for robust MPC-based gait generation in humanoids," IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1582-1589, 2021 (pdf). DOI:10.1109/LRA.2021.3059627
F.M. Smaldone, N. Scianca, L. Lanari, G. Oriolo, "Robust MPC-based gait generation in humanoids," I-RIM 3D 2020, Rome, Italy (pdf). DOI:10.5281/zenodo.4781064
G. Turrisi, B. Barros Carlos, M. Cefalo, V. Modugno, L. Lanari, G. Oriolo, "Enforcing constraints over learned policies via nonlinear MPC: Application to the Pendubot," 2020 IFAC World Congress, Berlin, Germany, 2020 (pdf). DOI:10.1016/j.ifacol.2020.12.2426
M. Beglini, L. Lanari and G. Oriolo, "Anti-jackknifing control of tractor-trailer vehicles via Intrinsically Stable MPC", 2020 IEEE International Conference on Robotics and Automation, Paris, France, pp.8806-8812, 2020. (pdf). DOI:10.1109/ICRA40945.2020.9197012
F.M. Smaldone, N. Scianca, V. Modugno, L. Lanari and G. Oriolo, "ZMP constraint restriction for robust gait generation in humanoids", 2020 IEEE International Conference on Robotics and Automation, Paris, France, pp.651-657, 2020. (pdf). DOI:10.1109/ICRA40945.2020.9197171
N. Scianca, D. De Simone, L. Lanari and G. Oriolo, "MPC for Humanoid Gait Generation: Stability and Feasibility", in IEEE Transactions on Robotics, 2020. DOI:10.1109/TRO.2019.2958483
A. Kheddar, S. Caron, P. Gergondet, A. Comport, A. Tanguy, C. Ott, B. Henze, G. Mesesan, J. Englsberger, M. Roa-Garzon, P.B. Wieber, F. Chaumette, F. Spindler, G. Oriolo, L. Lanari, A. Escande, K. Chappellet, F. Kanehiro, P. Rabaté, "Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases." in IEEE Robotics & Automation Magazine, October, 2019. DOI:10.1109/MRA.2019.2943395 (2020 Best Paper Award)
S. Caron, A. Escande, L. Lanari and B. Mallein, "Capturability-Based Pattern Generation for Walking With Variable Height", in IEEE Transactions on Robotics, vol. 36, no. 2, pp. 517-536, April 2020. DOI:10.1109/TRO.2019.2923971
L. Penco, N. Scianca, V. Modugno, L. Lanari, G. Oriolo and S. Ivaldi "A Multimode Teleoperation Framework for Humanoid Loco-Manipulation: A Demonstration Using the iCub Robot", in IEEE Robotics & Automation Magazine, October, 2019, DOI:10.1109/MRA.2019.2941245
F. M. Smaldone, N. Scianca, V. Modugno, L. Lanari, G. Oriolo, "Gait generation using Intrinsically Stable MPC in the presence of persistent disturbances," 19th IEEE-RAS International Conference on Humanoid Robots, Toronto, Canada, pp. 682-687, 2019 (pdf). DOI:10.1109/Humanoids43949.2019.9035068
P. Ferrari, N. Scianca, L. Lanari, G. Oriolo, "An Integrated Motion Planner/Controller for Humanoid Robots on Uneven Ground," 2019 18th European Control Conference (ECC), Naples, Italy, 2019, pp. 1598-1603. (pdf). https://doi.org/10.23919/ECC.2019.8796196
K. Al Khudir, G. Halvorsen, L. Lanari and A. De Luca “Stable torque optimization for redundant robots using a short preview,” in IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 2046-2057, 2019 (pdf). DOI:10.1109/LRA.2019.2899667
A. Zamparelli, N. Scianca, L. Lanari, G. Oriolo, "Humanoid gait generation on uneven ground using intrinsically stable MPC," 12th IFAC Symposium on Robot Control, Budapest, Hungary, pp.393-398, 2018 (pdf). DOI:10.1016/j.ifacol.2018.11.574
N. Scianca, V. Modugno, L. Lanari, G. Oriolo, "Gait generation via intrinsically stable MPC for a multi-mass humanoid model," 2017 IEEE-RAS International Conference on Humanoid Robots, Birmingham, UK, pp. 547-552, 2017 (pdf). DOI:10.1109/HUMANOIDS.2017.8246926
A. Aboudonia, N. Scianca, D. De Simone, L. Lanari, G. Oriolo, "Humanoid gait generation for walk-to locomotion using single-stage MPC," 2017 IEEE-RAS International Conference on Humanoid Robots, Birmingham, UK, pp. 178-183, 2017 (pdf). DOI:10.1109/HUMANOIDS.2017.8239554
D. De Simone, N. Scianca, P. Ferrari, L. Lanari, G. Oriolo, "MPC-based humanoid pursuit-evasion in the presence of obstacles," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, pp. 5245-5250, 2017 (pdf). DOI:10.1109/IROS.2017.8206415G
M. Cognetti, D. De Simone, F. Patota, N. Scianca, L. Lanari, G. Oriolo, "Real-time pursuit-evasion with humanoid robots," 2017 IEEE International Conference on Robotics and Automation, Singapore, pp. 4090-4095, 2017 (pdf). DOI:10.1109/ICRA.2017.7989470
N. Scianca, M. Cognetti, D. De Simone, L. Lanari, G. Oriolo, "Intrinsically stable MPC for humanoid gait generation," 2016 IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, pp. 601-606, Nov 2016 (pdf). DOI: 10.1109/HUMANOIDS.2016.7803336
L. Lanari, S. Hutchinson, "Optimal double support zero moment point trajectories for bipedal locomotion," 2016 IEEE-RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, pp. 5162-5168, Oct 2016 (pdf). DOI: 10.1109/IROS.2016.7759758
L. Lanari, O. Urbann, S. Hutchinson, I. Scwarz, "Boundedness approach to gait planning for the flexible linear inverted pendulum model," 20th RoboCup International Symposium, Leipzig, Germany, pp. 58-70, Jul 2016 (pdf). DOI: 10.1007/978-3-319-68792-6_5
M. Cognetti, D. De Simone, L. Lanari, G. Oriolo, "Real-time planning and execution of evasive motions for a humanoid robot," 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden, pp. 4200-4206, Jun 2016 (pdf). DOI: 10.1109/ICRA.2016.7487614
L. Lanari, S. Hutchinson, "Planning desired center of mass and zero moment point trajectories for bipedal locomotion," 2015 IEEE-RAS International Conference on Humanoid Robots, Seoul, South Korea, pp. 637-642, Nov 2015 (pdf). DOI: 10.1109/HUMANOIDS.2015.7363438
L. Lanari, S. Hutchinson, "Inversion-based gait generation for humanoid robots,'' in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, Sep 2015, pp. 1592-1598 (pdf). DOI: 10.1109/IROS.2015.7353580
L. Lanari, S. Hutchinson, L. Marchionni, "Boundedness issues in planning of locomotion trajectories for biped robots,'' 2014 IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, pp. 951-958, Nov 2014 (pdf). DOI: 10.1109/HUMANOIDS.2014.7041478
M. Bellaccini, A. Paolillo, L. Lanari, M. Vendittelli, "Manual guidance of humanoid robots without force sensors: preliminary experiments with NAO," 2014 IEEE International Conference on Robotics and Automation, Hong Kong, China, May 2014, pp. 1184-1189 (pdf). DOI: 10.1109/ICRA.2014.6907003

Teaching

Control Systems (9 CR, Ingegneria Meccanica)

Multivariable Feedback Control (6 CR, Master of Science in Control Engineering)

Underactuated Robots (in Elective in Robotics/Control Problems in Robotics)

Control Problems in Robotics

General information about the Master of Science in Control Engineering

Former courses

Fondamenti di Automatica (9 CR, Ingegneria Meccanica)

Controllo dei Processi (Ingegneria dei Sistemi, nuovo ordinamento)

Controllo dei Sistemi Multivariabili (Corso di Dottorato in Ingegneria dei Sistemi)

Controlli Automatici (9 CR, Ingegneria Meccanica)

Progetto di Sistemi Robotici (Ingegneria Automatica e dei Sistemi di Automazione, nuovo ordinamento)

Fondamenti di Automatica (6 CR, Ingegneria Meccanica)

Fondamenti di Automatica (Ingegneria Meccanica, vecchio ordinamento)