Exact modeling of the flexible slewing link. - F. Bellezza; Leonardo Lanari; Giovanni Ulivi (ICRA, 1990)

A family of asymptotically stable tracking control laws for flexible robots. - Leonardo Lanari; John T. Wen (IROS, 1991)

A sensitivity approach to optimal spline robot trajectories. - Alessandro De Luca 001; Leonardo Lanari; Giuseppe Oriolo (Autom., 1991)

Control of redundant robots on cyclic trajectories. - Alessandro De Luca 001; Leonardo Lanari; Giuseppe Oriolo (ICRA, 1992)

Stability Analysis for Feedforward Approximations in the Control of Flexible Joint Robots. - Leonardo Lanari; Pierre Sicard; John T. Wen (ICRA (3), 1993)

Tracking with disturbance attenuation for rigid robots. - Stefano Battilotti; Leonardo Lanari (ICRA, 1996)

Adaptive disturbance attenuation with global stability for rigid and elastic joint robots. - Stefano Battilotti; Leonardo Lanari (Autom., 1997)

On the Role of Passivity and Output Injection in the Output Feedback Stabilisation Problem: Application to Robot Control. - Stefano Battilotti; Leonardo Lanari; Romeo Ortega (Eur. J. Control, 1997)

A new separation result for a class of quadratic-like systems with application to Euler-Lagrange models. - Gildas Besançon; Stefano Battilotti; Leonardo Lanari (Autom., 2003)

Hierarchical tracking implementation. - Leonardo Cavarischia; Leonardo Lanari (CDC, 2007)

Path following for an autonomous paraglider. - Chiara Toglia; Marilena Vendittelli; Leonardo Lanari (CDC, 2010)

Boundedness issues in planning of locomotion trajectories for biped robots. - Leonardo Lanari; Seth Hutchinson 001; Luca Marchionni (Humanoids, 2014)

Manual guidance of humanoid robots without force sensors: Preliminary experiments with NAO. - Marco Bellaccini; Leonardo Lanari; Antonio Paolillo; Marilena Vendittelli (ICRA, 2014)

Planning desired center of Mass and zero moment point trajectories for bipedal locomotion. - Leonardo Lanari; Seth Hutchinson 001 (Humanoids, 2015)

Inversion-based gait generation for humanoid robots. - Leonardo Lanari; Seth Hutchinson 001 (IROS, 2015)

Intrinsically stable MPC for humanoid gait generation. - Nicola Scianca; Marco Cognetti; Daniele De Simone; Leonardo Lanari; Giuseppe Oriolo (Humanoids, 2016)

Real-time planning and execution of evasive motions for a humanoid robot. - Marco Cognetti; Daniele De Simone; Leonardo Lanari; Giuseppe Oriolo (ICRA, 2016)

Optimal double support zero moment point trajectories for bipedal locomotion. - Leonardo Lanari; Seth Hutchinson 001 (IROS, 2016)

Boundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model. - Leonardo Lanari; Oliver Urbann; Seth Hutchinson 001; Ingmar Schwarz (RoboCup, 2016)

Humanoid gait generation for walk-to locomotion using single-stage MPC. - Ahmed Aboudonia; Nicola Scianca; Daniele De Simone; Leonardo Lanari; Giuseppe Oriolo (Humanoids, 2017)

Gait generation via intrinsically stable MPC for a multi-mass humanoid model. - Nicola Scianca; Valerio Modugno; Leonardo Lanari; Giuseppe Oriolo (Humanoids, 2017)

Real-time pursuit-evasion with humanoid robots. - Marco Cognetti; Daniele De Simone; Federico Patota; Nicola Scianca; Leonardo Lanari; Giuseppe Oriolo (ICRA, 2017)

MPC-based humanoid pursuit-evasion in the presence of obstacles. - Daniele De Simone; Nicola Scianca; Paolo Ferrari; Leonardo Lanari; Giuseppe Oriolo (IROS, 2017)

Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC ⁎. - Alessio Zamparelli; Nicola Scianca; Leonardo Lanari; Giuseppe Oriolo (SyRoCo, 2018)

Capturability-based Analysis, Optimization and Control of 3D Bipedal Walking. - Stéphane Caron; Adrien Escande; Leonardo Lanari; Bastien Mallein (CoRR, 2018)

An Integrated Motion Planner/Controller for Humanoid Robots on Uneven Ground. - Paolo Ferrari; Nicola Scianca; Leonardo Lanari; Giuseppe Oriolo (ECC, 2019)

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)

Stable Torque Optimization for Redundant Robots Using a Short Preview. - Khaled Al Khudir; Gaute Halvorsen; Leonardo Lanari; Alessandro De Luca 001 (IEEE Robotics Autom. Lett., 2019)

Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. - 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; et al. (IEEE Robotics Autom. Mag., 2019)

A Multimode Teleoperation Framework for Humanoid Loco-Manipulation: An Application for the iCub Robot. - Luigi Penco; Nicola Scianca; Valerio Modugno; Leonardo Lanari; Giuseppe Oriolo; Serena Ivaldi (IEEE Robotics Autom. Mag., 2019)

Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC. - Manuel Beglini; Leonardo Lanari; Giuseppe Oriolo (ICRA, 2020)

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

Capturability-Based Pattern Generation for Walking With Variable Height. - Stéphane Caron; Adrien Escande; Leonardo Lanari; Bastien Mallein (IEEE Trans. Robotics, 2020)

MPC for Humanoid Gait Generation: Stability and Feasibility. - Nicola Scianca; Daniele De Simone; Leonardo Lanari; Giuseppe Oriolo (IEEE Trans. Robotics, 2020)

A behavior-based framework for safe deployment of humanoid robots. - Nicola Scianca; Paolo Ferrari; Daniele De Simone; Leonardo Lanari; Giuseppe Oriolo (Auton. Robots, 2021)

Linear-Quadratic Optimal Boundary Control of a One-Link Flexible Arm. - Andrea Cristofaro; Alessandro De Luca 001; Leonardo Lanari (IEEE Control. Syst. Lett., 2021)

Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot With Uncertainty Minimization. - Francesco Cursi; Valerio Modugno; Leonardo Lanari; Giuseppe Oriolo; Petar Kormushev (IEEE Robotics Autom. Lett., 2021)

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)

Feasibility-Aware Plan Adaptation in Humanoid Gait Generation. - Michele Cipriano; Marcos R. O. A. Máximo; Nicola Scianca; Leonardo Lanari; Giuseppe Oriolo (Humanoids, 2023)

Humanoid motion generation in a world of stairs. - Michele Cipriano; Paolo Ferrari; Nicola Scianca; Leonardo Lanari; Giuseppe Oriolo (Robotics Auton. Syst., 2023)

A decentralized cooperative transportation scheme for humanoid robots. - Greta Gasbarrone; Nicola Scianca; Leonardo Lanari; Giuseppe Oriolo (Humanoids, 2024)

Joint-Level IS-MPC: a Whole-Body MPC with Centroidal Feasibility for Humanoid Locomotion. - Tommaso Belvedere; Nicola Scianca; Leonardo Lanari; Giuseppe Oriolo (IROS, 2024)

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

Humanoid Motion Generation in Complex 3D Environments. - Diego Marussi; Michele Cipriano; Nicola Scianca; Leonardo Lanari; Giuseppe Oriolo (Robotics, 2025)