Pubblicazioni di Lanari Leonardo

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

Kheddar Abderrahmane, Roa-Garzon Maximo, Wieber Pierre-Brice, Chaumette Francois, Spindler Fabien, Oriolo Giuseppe, Lanari Leonardo, Escande Adrien, Chappellet Kevin, Kanehiro Fumio, Rabate Patrice, Caron Stephane, Gergondet Pierre, Comport Andrew Ian, Tanguy Arnaud, Ott Christian, Henze Bernd, Mesesan George, Englsberger Johannes
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

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

1996

Battilotti S., Lanari L., Ortega R.
Battilotti Stefano, Lanari Leonardo
Tracking with disturbance attenuation for rigid robots. Proceedings of IEEE International Conference on Robotics and Automation 1996: 1578-1583

1995

Battilotti Stefano, Lanari Leonardo
Adaptive disturbance attenuation for elastic joint robots. Proceedings of 34th IEEE Conference on Decision and Control 1995: 2823-2828

Battilotti Stefano, Lanari Leonardo
Battilotti Stefano, Lanari Leonardo
On optimal controllers for elastic joint robots. Proceedings of 1995 34th IEEE Conference on Decision and Control 1995: 2818-2822

DE LUCA Alessandro, Lanari Leonardo
Robots with elastic joints are linearizable via dynamic feedback. Proc. 34th IEEE Conf. on Decision and Control 1995: 3895-3897

1994

A. Astolfi, Lanari Leonardo
Disturbance attenuation and set-point regulation of rigid robots via H/sub ∞/ control. Proceedings of 1994 33rd IEEE Conference on Decision and Control 1994: 2578-2583

Battilotti Stefano, S. Di Gennaro, Lanari Leonardo
OUTPUT FEEDBACK STABILIZATION OF A RIGID SPACECRAFT WITH UNKNOWN DISTURBANCES. Proceedings of 1994 33rd IEEE Conference on Decision and Control 1994: 916-920

1993

Lanari Leonardo, P. Sicard, J. T. Wen
Stability analysis for feedforward approximations in the control of flexible joint robots. [1993] Proceedings IEEE International Conference on Robotics and Automation 1993: 990-995

DE SANTIS Alberto, Lanari Leonardo
Stabilization and control of a flexible structure continuum model. Proceedings of 32nd IEEE Conference on Decision and Control 1993: 3210-3215

1992

Lanari Leonardo, John T. Wen
DE LUCA Alessandro, Lanari Leonardo, Oriolo Giuseppe
Control of redundant robots on cyclic trajectories. Proc. 1992 IEEE Int. Conf. on Robotics and Automation 1992: 500-506

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