Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances. - Filippo M. Smaldone; Nicola Scianca; Valerio Modugno; Leonardo Lanari; Giuseppe Oriolo (Humanoids, 2019)

ZMP Constraint Restriction for Robust Gait Generation in Humanoids. - Filippo M. Smaldone; Nicola Scianca; Valerio Modugno; Leonardo Lanari; Giuseppe Oriolo (ICRA, 2020)

Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids. - Filippo M. Smaldone; Nicola Scianca; Leonardo Lanari; Giuseppe Oriolo (IEEE Robotics Autom. Lett., 2021)

Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots. - Marco Kanneworff; Tommaso Belvedere; Nicola Scianca; Filippo M. Smaldone; Leonardo Lanari; Giuseppe Oriolo (ICRA, 2022)

Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation. - Andrew S. Habib; Filippo M. Smaldone; Nicola Scianca; Leonardo Lanari; Giuseppe Oriolo (IROS, 2022)

From Walking to Running: 3D Humanoid Gait Generation via MPC. - Filippo M. Smaldone; Nicola Scianca; Leonardo Lanari; Giuseppe Oriolo (Frontiers Robotics AI, 2022)

A feasibility-driven MPC scheme for robust gait generation in humanoids. - Nicola Scianca; Filippo M. Smaldone; Leonardo Lanari; Giuseppe Oriolo (Robotics Auton. Syst., 2025)