Pubblicazioni di Lanari Leonardo

2021

Scianca N., Ferrari P., De Simone D., Lanari L., Oriolo G.
Cursi Francesco, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe, Kormushev Petar
Smaldone Filippo Maria, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe

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.
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
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
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
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

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
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

Battilotti Stefano, Lanari Leonardo, Ortega R. .
G. Fusco, Lanari Leonardo
Output tracking and internal behavior of a flexible slewing link. Proceedings of the 36th IEEE Conference on Decision and Control 1997: 1373-1374

Lanari Leonardo
Singular arcs and output tracking. Proceedings of the 36th IEEE Conference on Decision and Control 1997: 295-296

© Università degli Studi di Roma "La Sapienza" - Piazzale Aldo Moro 5, 00185 Roma