Pubblicazioni di Lanari Leonardo
2022
Beglini Manuel, Belvedere Tommaso, Lanari Leonardo, Oriolo Giuseppe
An Intrinsically Stable MPC Approach for Anti-Jackknifing Control of Tractor-Trailer Vehicles. IEEE/ASME TRANSACTIONS ON MECHATRONICS 2022: -
Kanneworff Marco, Belvedere Tommaso, Scianca Nicola, Smaldone Filippo M., Lanari Leonardo, Oriolo Giuseppe
Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots. 2022 IEEE International Conference on Robotics and Automation 2022: -
2021
Scianca N., Ferrari P., De Simone D., Lanari L., Oriolo G.
A behavior-based framework for safe deployment of humanoid robots. AUTONOMOUS ROBOTS 2021: 435-456
Cursi Francesco, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe, Kormushev Petar
Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot with Uncertainty Minimization. IEEE ROBOTICS AND AUTOMATION LETTERS 2021: 2462-2469
Smaldone Filippo Maria, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids. IEEE ROBOTICS AND AUTOMATION LETTERS 2021: 1582-1589
Smaldone Filippo M., Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
MPC-based gait generation for humanoids: From walking to running. 2021 I-RIM Conference 2021: 129-130
2020
Beglini M., Lanari L., Oriolo G.
Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC. 2020 IEEE International Conference on Robotics and Automation (ICRA) 2020: 8806-8812
Caron S., Escande A., Lanari L., Mallein B.
Capturability-Based Pattern Generation for Walking with Variable Height. IEEE TRANSACTIONS ON ROBOTICS 2020: 517-536
Turrisi Giulio, Barros Carlos Barbara, Cefalo Massimo, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe
Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot. IFAC-PapersOnLine 2020: 9502-9507
Cristofaro Andrea, De Luca Alessandro, Lanari Leonardo
Linear-quadratic optimal boundary control of a one-link flexible arm. IEEE CONTROL SYSTEMS LETTERS 2020: 833-839
Scianca Nicola, De Simone Daniele, Lanari Leonardo, Oriolo Giuseppe
MPC for Humanoid Gait Generation: Stability and Feasibility. IEEE TRANSACTIONS ON ROBOTICS 2020: 1171-1188
Smaldone Filippo M., Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Robust MPC-Based Gait Generation in Humanoids. Proceedings of I-RIM 2020 2020: -
Smaldone F. M., Scianca N., Modugno V., Lanari L., Oriolo G.
ZMP Constraint Restriction for Robust Gait Generation in Humanoids. Proceedings - IEEE International Conference on Robotics and Automation 2020: 8739-8745
2019
Penco Luigi, Scianca Nicola, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe, Ivaldi Serena
A Multimode Teleoperation Framework for Humanoid Loco-Manipulation: A Demonstration Using the iCub Robot. IEEE ROBOTICS AND AUTOMATION MAGAZINE 2019: 73-82
Ferrari P., Scianca N., Lanari L., Oriolo G.
An integrated motion planner/controller for humanoid robots on uneven ground. 2019 18th European Control Conference (ECC 2019) 2019: 1598-1603
Smaldone F. M., Scianca N., Modugno V., Lanari L., Oriolo G.
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances. 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) 2019: 651-656
Kheddar Abderrahmane, Caron Stéphane, Gergondet Pierre, Comport Andrew, Tanguy Arnaud, Ott Christian, Henze Bernd, Mesesan George, Englsberger Johannes, Roa Máximo A., Wieber Pierre-Brice, Chaumette François, Spindler Fabien, Oriolo Giuseppe, Lanari Leonardo, Escande Adrien, Chappellet Kevin, Kanehiro Fumio, Patrice Rabaté And
Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. IEEE ROBOTICS AND AUTOMATION MAGAZINE 2019: 30-45
Al Khudir Khaled, Halvorsen Gaute, Lanari Leonardo, De Luca Alessandro
Stable Torque Optimization for Redundant Robots Using a Short Preview. IEEE ROBOTICS AND AUTOMATION LETTERS 2019: 2046-2053
2018
Zamparelli Alessio, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC. 12th IFAC Symposium on Robot Control SYROCO 2018 2018: 393-398
2017
Lanari Leonardo, Urbann Oliver, Hutchinson Seth, Schwarz Ingmar
Boundedness approach to gait planning for the flexible linear inverted pendulum model. RoboCup 2016: robot world cup XX 2017: 58-70
Scianca Nicola, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe
Gait generation via intrinsically stable MPC for a multi-mass humanoid model. 2017 IEEE-RAS 17th international conference on humanoid robotics (Humanoids 2017): Birmingham, United Kingdom 15 – 17 November 2017 2017: 547-552
Aboudonia Ahmed Osama Hamed, Scianca Nicola, De Simone Daniele, Lanari Leonardo, Oriolo Giuseppe
Humanoid gait generation for walk-to locomotion using single-stage MPC. 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017) 2017: 178-183
De Simone Daniele, Scianca Nicola, Ferrari Paolo, Lanari Leonardo, Oriolo Giuseppe
MPC-based humanoid pursuit-evasion in the presence of obstacles. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017: 5245-5250
Cognetti Marco, De Simone Daniele, Patota Federico, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Real-time pursuit-evasion with humanoid robots. 2017 IEEE International Conference on Robotics and Automation (ICRA) 2017: 4090-4095
2016
Scianca Nicola, Cognetti Marco, De Simone Daniele, Lanari Leonardo, Oriolo Giuseppe
Intrinsically Stable MPC for Humanoid Gait Generation. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) 2016: 601-606
Lanari Leonardo, Hutchinson Seth Andrew
Optimal double support zero moment point trajectories for bipedal locomotion. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) 2016: 5162-5168
Cognetti Marco, DE SIMONE Daniele, Lanari Leonardo, Oriolo Giuseppe
Real-time planning and execution of evasive motions for a humanoid robot. 2016 IEEE International Conference on Robotics and Automation (ICRA) 2016: 4200-4206
2015
Lanari Leonardo, Hutchinson Seth
Inversion-based gait generation for humanoid robots. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) 2015: 1592-1598
Lanari Leonardo, Hutchinson Seth
Planning desired center of Mass and zero moment point trajectories for bipedal locomotion. 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) 2015: 637-642
2014
Lanari Leonardo, S. Hutchinson, L. Marchionni
Boundedness Issues in Planning of Locomotion Trajectories for Biped Robots. 2014 IEEE-RAS International Conference on Humanoid Robots 2014: 951-958
LANARI Leonardo
Humanoid Push Recovery: An Analytical Solution. INTERNATIONAL JOURNAL OF ADVANCED RESEARCH IN COMPUTER SCIENCE AND SOFTWARE ENGINEERING 2014: 87-92
M. Bellaccini, Lanari Leonardo, Paolillo Antonio, Vendittelli Marilena
Manual guidance of humanoid robots without force sensors: preliminary experiments with NAO. Proc. of the 2014 IEEE International Conference on Robotics and Automation 2014: -
2013
M. Bellaccini, Lanari Leonardo, Paolillo Antonio, Vendittelli Marilena
Manual Guidance of the humanoid NAO without Force Measurements. Proc. of 6th International Workshop on Human-Friendly Robotics 2013: -
2010
C. Toglia, Vendittelli Marilena, Lanari Leonardo
Dynamics and control of a paraglider for planetary exploration. 61st International Astronautical Congress 2010: 2166-2172
Chiara Toglia, Vendittelli Marilena, Lanari Leonardo
Path following for an autonomous paraglider. 49th IEEE Conference on Decision and Control 2010: 4869-4874
2007
L. Cavarischia, Lanari Leonardo
Hierarchical Control Implementation. Proc. of the 15th Mediterranean Conference on Control and Automation 2007: 1-6
Leonardo Cavarischia, Lanari Leonardo
Hierarchical tracking implementation. Proc. 46th IEEE Conference on Decision and Control 2007: 4257-4262
L. Cavarischia, Lanari Leonardo
Invariant subspaces in large scale systems. 11th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems 2007: -
Leonardo Cavarischia, Lanari Leonardo
Subspaces invariance constraints
in Large Scale Systems. Proc. 2007 Mediterranean Conf. on Control & Automation 2007: -
2006
Cefalo Massimo, Lanari Leonardo, Oriolo Giuseppe
Energy-based control of the Butterfly robot. Proc. 8th International IFAC Symposium on Robot Control 2006: -
2004
Benosman M, LE VEY G, Lanari Leonardo, DE LUCA Alessandro
Rest to rest motion for planar multi-link flexible manipulators through backward recursion. JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT AND CONTROL 2004: 115-123
2003
Besancon G., Battilotti S., Lanari L.
A new separation result for a class of quadratic-like systems with application to Euler-Lagrange models. AUTOMATICA 2003: 1085-1093
M. Benosman, G. Le Vey, Lanari Leonardo, De Luca Alessandro
Rest-to-rest motion for planar multi-link flexible manipulator. Proc. 7th IFAC Symp. on Robot Control 2003: 327-332
Cefalo M, Lanari Leonardo, Oriolo Giuseppe, Vendittelli Marilena
The REAL Lab: Remote experiments for active learning. 1st Workshop on Web Learning - AICA2003 2003: 118-129
2002
G. Besancon, Battilotti Stefano, Lanari Leonardo
A new separation result for Euler-Lagrange-like systems. 15th IFAC World Congress 2002: 247-252
1998
Gildas Besancon, Battilotti Stefano, Lanari Leonardo
On output feedback tracking control with disturbance attenuation for Euler-Lagrange systems. Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171) 1998: 3139-3143
G. Fusco, Lanari Leonardo
Parametrization of a flexible link's internal behavior in an output tracking problem. Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171) 1998: 3627-3628
1997
Battilotti Stefano, Lanari Leonardo
Adaptive disturbance attenuation with global stability for rigid and alastic joint robots. AUTOMATICA 1997: 239-245
Lanari Leonardo, Oriolo Giuseppe
DE SANTIS Alberto, Lanari Leonardo
DISTURBANCE ATTENUATION FOR A CLASS OF DISTRIBUTED PARAMETER SYSTEMS. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 1997: 759-775