Leonardo Lanari

Publication Activity (10 Years)

Years Active: 1990-2023
Publications (10 Years): 33

Top Topics

Gait Recognition

Inverted Pendulum

Top Venues

IEEE Robotics Autom. Lett.

Publications

Michele Cipriano, Marcos R. O. A. Máximo, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
Feasibility-Aware Plan Adaptation in Humanoid Gait Generation. Humanoids (2023)
Michele Cipriano, Paolo Ferrari, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
Humanoid motion generation in a world of stairs. Robotics Auton. Syst. 168 (2023)
Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
From Walking to Running: 3D Humanoid Gait Generation via MPC. Future Internet 9 (2022)
Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
From Walking to Running: 3D Humanoid Gait Generation via MPC. Frontiers Robotics AI 9 (2022)
Andrew S. Habib, Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation. IROS (2022)
Marco Kanneworff, Tommaso Belvedere, Nicola Scianca, Filippo M. Smaldone, Leonardo Lanari, Giuseppe Oriolo
Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots. ICRA (2022)
Francesco Cursi, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, Petar Kormushev
Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot With Uncertainty Minimization. IEEE Robotics Autom. Lett. 6 (2) (2021)
Andrea Cristofaro, Alessandro De Luca, Leonardo Lanari
Linear-Quadratic Optimal Boundary Control of a One-Link Flexible Arm. IEEE Control. Syst. Lett. 5 (3) (2021)
Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids. IEEE Robotics Autom. Lett. 6 (2) (2021)
Nicola Scianca, Paolo Ferrari, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
A behavior-based framework for safe deployment of humanoid robots. Auton. Robots 45 (4) (2021)
Nicola Scianca, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
MPC for Humanoid Gait Generation: Stability and Feasibility. IEEE Trans. Robotics 36 (4) (2020)
Filippo M. Smaldone, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo
ZMP Constraint Restriction for Robust Gait Generation in Humanoids. ICRA (2020)
Manuel Beglini, Leonardo Lanari, Giuseppe Oriolo
Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC. ICRA (2020)
Stéphane Caron, Adrien Escande, Leonardo Lanari, Bastien Mallein
Capturability-Based Pattern Generation for Walking With Variable Height. IEEE Trans. Robotics 36 (2) (2020)
Filippo M. Smaldone, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances. CoRR (2019)
Abderrahmane Kheddar, Máximo A. Roa, Pierre-Brice Wieber, François Chaumette, Fabien Spindler, Giuseppe Oriolo, Leonardo Lanari, Adrien Escande, Kevin Chappellet, Fumio Kanehiro, Patrice Rabaté, Stéphane Caron, Pierre Gergondet, Andrew I. Comport, Arnaud Tanguy, Christian Ott, Bernd Henze, George Mesesan, Johannes Englsberger
Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. IEEE Robotics Autom. Mag. 26 (4) (2019)
Filippo M. Smaldone, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances. Humanoids (2019)
Nicola Scianca, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
MPC for Humanoid Gait Generation: Stability and Feasibility. CoRR (2019)
Paolo Ferrari, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
An Integrated Motion Planner/Controller for Humanoid Robots on Uneven Ground. ECC (2019)
Luigi Penco, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, Serena Ivaldi
A Multimode Teleoperation Framework for Humanoid Loco-Manipulation: An Application for the iCub Robot. IEEE Robotics Autom. Mag. 26 (4) (2019)
Khaled Al Khudir, Gaute Halvorsen, Leonardo Lanari, Alessandro De Luca
Stable Torque Optimization for Redundant Robots Using a Short Preview. IEEE Robotics Autom. Lett. 4 (2) (2019)
Alessio Zamparelli, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
. SyRoCo (2018)
Stéphane Caron, Adrien Escande, Leonardo Lanari, Bastien Mallein
Capturability-based Analysis, Optimization and Control of 3D Bipedal Walking. CoRR (2018)
Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo
Gait generation via intrinsically stable MPC for a multi-mass humanoid model. Humanoids (2017)
Daniele De Simone, Nicola Scianca, Paolo Ferrari, Leonardo Lanari, Giuseppe Oriolo
MPC-based humanoid pursuit-evasion in the presence of obstacles. IROS (2017)
Marco Cognetti, Daniele De Simone, Federico Patota, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo
Real-time pursuit-evasion with humanoid robots. ICRA (2017)
Ahmed Aboudonia, Nicola Scianca, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
Humanoid gait generation for walk-to locomotion using single-stage MPC. Humanoids (2017)
Leonardo Lanari, Oliver Urbann, Seth Hutchinson, Ingmar Schwarz
Boundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model. RoboCup (2016)
Marco Cognetti, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
Real-time planning and execution of evasive motions for a humanoid robot. ICRA (2016)
Nicola Scianca, Marco Cognetti, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo
Intrinsically stable MPC for humanoid gait generation. Humanoids (2016)
Leonardo Lanari, Seth Hutchinson
Optimal double support zero moment point trajectories for bipedal locomotion. IROS (2016)
Leonardo Lanari, Seth Hutchinson
Planning desired center of Mass and zero moment point trajectories for bipedal locomotion. Humanoids (2015)
Leonardo Lanari, Seth Hutchinson
Inversion-based gait generation for humanoid robots. IROS (2015)
Marco Bellaccini, Leonardo Lanari, Antonio Paolillo, Marilena Vendittelli
Manual guidance of humanoid robots without force sensors: Preliminary experiments with NAO. ICRA (2014)
Leonardo Lanari, Seth Hutchinson, Luca Marchionni
Boundedness issues in planning of locomotion trajectories for biped robots. Humanoids (2014)
Chiara Toglia, Marilena Vendittelli, Leonardo Lanari
Path following for an autonomous paraglider. CDC (2010)
Leonardo Cavarischia, Leonardo Lanari
Hierarchical tracking implementation. CDC (2007)
Gildas Besançon, Stefano Battilotti, Leonardo Lanari
A new separation result for a class of quadratic-like systems with application to Euler-Lagrange models. Autom. 39 (6) (2003)
Stefano Battilotti, Leonardo Lanari
Adaptive disturbance attenuation with global stability for rigid and elastic joint robots. Autom. 33 (2) (1997)
Stefano Battilotti, Leonardo Lanari, Romeo Ortega
On the Role of Passivity and Output Injection in the Output Feedback Stabilisation Problem: Application to Robot Control. Eur. J. Control 3 (2) (1997)
Stefano Battilotti, Leonardo Lanari
Tracking with disturbance attenuation for rigid robots. ICRA (1996)
Leonardo Lanari, Pierre Sicard, John T. Wen
Stability Analysis for Feedforward Approximations in the Control of Flexible Joint Robots. ICRA (3) (1993)
Alessandro De Luca, Leonardo Lanari, Giuseppe Oriolo
Control of redundant robots on cyclic trajectories. ICRA (1992)
Alessandro De Luca, Leonardo Lanari, Giuseppe Oriolo
A sensitivity approach to optimal spline robot trajectories. Autom. 27 (3) (1991)
Leonardo Lanari, John T. Wen
A family of asymptotically stable tracking control laws for flexible robots. IROS (1991)
F. Bellezza, Leonardo Lanari, Giovanni Ulivi
Exact modeling of the flexible slewing link. ICRA (1990)