MPC for humanoid gait generation: Stability and feasibility N Scianca, D De Simone, L Lanari, G Oriolo IEEE Transactions on Robotics 36 (4), 1171-1188, 2020 | 119 | 2020 |
Intrinsically stable MPC for humanoid gait generation N Scianca, M Cognetti, D De Simone, L Lanari, G Oriolo 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 56 | 2016 |
A multimode teleoperation framework for humanoid loco-manipulation: An application for the icub robot L Penco, N Scianca, V Modugno, L Lanari, G Oriolo, S Ivaldi IEEE Robotics & Automation Magazine 26 (4), 73-82, 2019 | 51 | 2019 |
Humanoid gait generation on uneven ground using intrinsically stable MPC A Zamparelli, N Scianca, L Lanari, G Oriolo IFAC-PapersOnLine 51 (22), 393-398, 2018 | 39 | 2018 |
Gait generation using intrinsically stable MPC in the presence of persistent disturbances FM Smaldone, N Scianca, V Modugno, L Lanari, G Oriolo 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids …, 2019 | 20 | 2019 |
MPC-based humanoid pursuit-evasion in the presence of obstacles D De Simone, N Scianca, P Ferrari, L Lanari, G Oriolo 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2017 | 18 | 2017 |
Real-time pursuit-evasion with humanoid robots M Cognetti, D De Simone, F Patota, N Scianca, L Lanari, G Oriolo 2017 IEEE International Conference on Robotics and Automation (ICRA), 4090-4095, 2017 | 16 | 2017 |
From walking to running: 3D humanoid gait generation via MPC FM Smaldone, N Scianca, L Lanari, G Oriolo Frontiers in Robotics and AI 9, 876613, 2022 | 14 | 2022 |
Feasibility-driven step timing adaptation for robust MPC-based gait generation in humanoids FM Smaldone, N Scianca, L Lanari, G Oriolo IEEE Robotics and Automation Letters 6 (2), 1582-1589, 2021 | 14 | 2021 |
ZMP constraint restriction for robust gait generation in humanoids FM Smaldone, N Scianca, V Modugno, L Lanari, G Oriolo 2020 IEEE International Conference on Robotics and Automation (ICRA), 8739-8745, 2020 | 13 | 2020 |
An integrated motion planner/controller for humanoid robots on uneven ground P Ferrari, N Scianca, L Lanari, G Oriolo 2019 18th European Control Conference (ECC), 1598-1603, 2019 | 12 | 2019 |
Humanoid gait generation for walk-to locomotion using single-stage MPC A Aboudonia, N Scianca, D De Simone, L Lanari, G Oriolo 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids …, 2017 | 12 | 2017 |
A behavior-based framework for safe deployment of humanoid robots N Scianca, P Ferrari, D De Simone, L Lanari, G Oriolo Autonomous Robots 45 (4), 435-456, 2021 | 10 | 2021 |
Humanoid motion generation in a world of stairs M Cipriano, P Ferrari, N Scianca, L Lanari, G Oriolo Robotics and Autonomous Systems 168, 104495, 2023 | 8 | 2023 |
Handling non-convex constraints in MPC-based humanoid gait generation AS Habib, FM Smaldone, N Scianca, L Lanari, G Oriolo 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022 | 8 | 2022 |
Learning model predictive control for periodic repetitive tasks N Scianca, U Rosolia, F Borrelli 2020 European Control Conference (ECC), 29-34, 2020 | 8 | 2020 |
Gait generation via intrinsically stable mpc for a multi-mass humanoid model N Scianca, V Modugno, L Lanari, G Oriolo 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids …, 2017 | 6 | 2017 |
Robust bipedal walking with closed-loop MPC: Adios stabilizers A Dallard, M Benallegue, N Scianca, F Kanehiro, A Kheddar | 5 | 2024 |
Feasibility-Aware Plan Adaptation in Humanoid Gait Generation M Cipriano, MROA Maximo, N Scianca, L Lanari, G Oriolo 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 1-8, 2023 | 4 | 2023 |
MPC-based humanoid pursuit-evasion in the presence of obstacles. In 2017 IEEE DD Simone, N Scianca, P Ferrari, L Lanari, G Oriolo RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 50, 2017 | 4 | 2017 |