Search Results - "Scianca, Nicola"

MPC for Humanoid Gait Generation: Stability and Feasibility by Scianca, Nicola, De Simone, Daniele, Lanari, Leonardo, Oriolo, Giuseppe

“…In this article, we present an intrinsically stable Model Predictive Control (IS-MPC) framework for humanoid gait generation that incorporates a stability…”
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A behavior-based framework for safe deployment of humanoid robots by Scianca, Nicola, Ferrari, Paolo, De Simone, Daniele, Lanari, Leonardo, Oriolo, Giuseppe

“…We present a complete framework for the safe deployment of humanoid robots in environments containing humans. Proceeding from some general guidelines, we…”
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From Walking to Running: 3D Humanoid Gait Generation via MPC by Smaldone, Filippo M., Scianca, Nicola, Lanari, Leonardo, Oriolo, Giuseppe

“…We present a real time algorithm for humanoid 3D walking and/or running based on a Model Predictive Control (MPC) approach. The objective is to generate a…”
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Humanoid motion generation in a world of stairs by Cipriano, Michele, Ferrari, Paolo, Scianca, Nicola, Lanari, Leonardo, Oriolo, Giuseppe

“…Consider the problem of generating humanoid motions in an environment consisting of horizontal patches located at different heights (world of stairs). To this…”
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A Multimode Teleoperation Framework for Humanoid Loco-Manipulation: An Application for the iCub Robot by Penco, Luigi, Scianca, Nicola, Modugno, Valerio, Lanari, Leonardo, Oriolo, Giuseppe, Ivaldi, Serena

“…Over the years, there have been many improvements in job-related safety standards and working conditions, but there are still many situations and environments…”
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A Multi-Mode Teleoperation Framework for Humanoid Loco-Manipulation: An Application for the iCub Robot by Penco, Luigi, Scianca, Nicola, Modugno, Valerio, Lanari, Leonardo, Oriolo, Giuseppe, Ivaldi, Serena

“…Over the years, there have been many improvements in job-related safety standards and working conditions, but there are still many situations and environments…”
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Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids by Smaldone, Filippo M., Scianca, Nicola, Lanari, Leonardo, Oriolo, Giuseppe

“…The feasibility region of a Model Predictive Control (MPC) algorithm is the subset of the state space in which the constrained optimization problem to be…”
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Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation by Habib, Andrew S., Smaldone, Filippo M., Scianca, Nicola, Lanari, Leonardo, Oriolo, Giuseppe

“…In most MPC-based schemes used for humanoid gait generation, simple Quadratic Programming (QP) problems are considered for real-time implementation. Since…”
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MPC-based humanoid pursuit-evasion in the presence of obstacles by De Simone, Daniele, Scianca, Nicola, Ferrari, Paolo, Lanari, Leonardo, Oriolo, Giuseppe

“…We consider a pursuit-evasion problem between humanoids in the presence of obstacles. In our scenario, the pursuer enters the safety area of the evader headed…”
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Learning Model Predictive Control for Periodic Repetitive Tasks by Scianca, Nicola, Rosolia, Ugo, Borrelli, Francesco

“…We propose a reference-free learning model predictive controller for periodic repetitive tasks. We consider a problem in which dynamics, constraints and stage…”
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Learning Model Predictive Control for Periodic Repetitive Tasks by Scianca, Nicola, Rosolia, Ugo, Borrelli, Francesco

“…We propose a reference-free learning model predictive controller for periodic repetitive tasks. We consider a problem in which dynamics, constraints and stage…”
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Intrinsically stable MPC for humanoid gait generation by Scianca, Nicola, Cognetti, Marco, De Simone, Daniele, Lanari, Leonardo, Oriolo, Giuseppe

“…We present a novel MPC method for humanoid gait generation that is guaranteed to produce stable CoM trajectories. This is obtained by using a dynamic extension…”
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Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots by Kanneworff, Marco, Belvedere, Tommaso, Scianca, Nicola, Smaldone, Filippo M., Lanari, Leonardo, Oriolo, Giuseppe

“…We present a whole-body control architecture for the generation of stable task-oriented motions in Wheeled Inverted Pendulum (WIP) robots. Controlling WIP…”
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An Integrated Motion Planner/Controller for Humanoid Robots on Uneven Ground by Ferrari, Paolo, Scianca, Nicola, Lanari, Leonardo, Oriolo, Giuseppe

“…We consider a situation in which a humanoid robot must reach a goal region (walk-to task) walking in an environment consisting of horizontal patches located at…”
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Feasibility-Aware Plan Adaptation in Humanoid Gait Generation by Cipriano, Michele, Maximo, Marcos R. O. A., Scianca, Nicola, Lanari, Leonardo, Oriolo, Giuseppe

“…Most available schemes used for humanoid walking rely on the separation into a planning phase, typically offline, and a Model Predictive Controller (MPC)…”
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Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances by Smaldone, Filippo M., Scianca, Nicola, Modugno, Valerio, Lanari, Leonardo, Oriolo, Giuseppe

“…From a control point of view, humanoid gait generation can be seen as a problem of tracking a suitable ZMP trajectory while guaranteeing internal stability. In…”
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ZMP Constraint Restriction for Robust Gait Generation in Humanoids by Smaldone, Filippo M., Scianca, Nicola, Modugno, Valerio, Lanari, Leonardo, Oriolo, Giuseppe

“…We present an extension of our previously proposed IS-MPC method for humanoid gait generation aimed at obtaining robust performance in the presence of…”
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MPC for Humanoid Gait Generation: Stability and Feasibility by Scianca, Nicola, De Simone, Daniele, Lanari, Leonardo, Oriolo, Giuseppe

“…We present IS-MPC, an intrinsically stable MPC framework for humanoid gait generation which incorporates an explicit stability constraint in the formulation…”
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Gait generation via intrinsically stable MPC for a multi-mass humanoid model by Scianca, Nicola, Modugno, Valerio, Lanari, Leonardo, Oriolo, Giuseppe

“…We consider the problem of generating a gait with no a priori assigned footsteps while taking into account the contribution of the swinging leg to the total…”
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Humanoid gait generation for walk-to locomotion using single-stage MPC by Aboudonia, Ahmed, Scianca, Nicola, De Simone, Daniele, Lanari, Leonardo, Oriolo, Giuseppe

“…We consider the problem of gait generation for a humanoid robot that must walk to an assigned Cartesian goal. As a first solution, we consider a rather…”
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