Pubblicazioni di Lanari Leonardo
2023
Menegatti D., Giuseppi A., Delli Priscoli F., Pietrabissa A., Di Giorgio A., Baldisseri F., Mattioni M., Monaco S., Lanari L., Panfili M., Suraci V.
Cipriano Michele, Maximo Marcos R. O. A., Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Feasibility-Aware Plan Adaptation in Humanoid Gait Generation. 2023 IEEE-RAS 22nd International Conference on Humanoid Robots 2023: -8
Cipriano Michele, Ferrari Paolo, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Humanoid motion generation in a world of stairs. ROBOTICS AND AUTONOMOUS SYSTEMS 2023: -
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: -
Smaldone Filippo Maria, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
From Walking to Running: 3D Humanoid Gait Generation via MPC. FRONTIERS IN ROBOTICS AND AI 2022: -
Habib Andrew S., Smaldone Filippo M., Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) 2022: 13167-13173
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: -
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: -
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. Proceedings - IEEE International Conference on Robotics and Automation 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. Proceedings of the 21st IFAC World Congress 2020: 9637-9642
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
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
2016
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