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

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)

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)

Learning Model Predictive Control for Periodic Repetitive Tasks. - Nicola Scianca; Ugo Rosolia; Francesco Borrelli (ECC, 2020)

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

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)

Robust Bipedal Walking With Closed-Loop MPC: Adios Stabilizers. - Antonin Dallard; Mehdi Benallegue; Nicola Scianca; Fumio Kanehiro; Abderrahmane Kheddar (IEEE Trans. Robotics, 2025)