L
Leonardo Lanari
Researcher at Sapienza University of Rome
Publications - 70
Citations - 1240
Leonardo Lanari is an academic researcher from Sapienza University of Rome. The author has contributed to research in topics: Robot & Humanoid robot. The author has an hindex of 19, co-authored 66 publications receiving 1059 citations.
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Proceedings ArticleDOI
Exact modeling of the flexible slewing link
TL;DR: The exact eigenfunctions for the slewing link of a robot are found, taking into account a rotating inertia at the base and a payload at the tip, from two equivalent formulations of the boundary value problem relative to the flexible slewing beam.
Proceedings ArticleDOI
Control of redundant robots on cyclic trajectories
TL;DR: The authors investigate the problem of how to achieve a cyclic joint behavior in redundant robots performing cyclic tasks, motivated by the fact that most singularity-free local resolution methods produce nonrepeatable joint motions.
Journal ArticleDOI
A sensitivity approach to optimal spline robot trajectories
TL;DR: The proposed approach can be used for optimizing more general objective functions under different types of constraints, including semi-infinite nonlinear programming.
Journal ArticleDOI
MPC for Humanoid Gait Generation: Stability and Feasibility
TL;DR: An intrinsically stable Model Predictive Control framework for humanoid gait generation that incorporates a stability constraint in the formulation is presented and it is proved that recursive feasibility guarantees stability of the CoM/ZMP dynamics.
Proceedings ArticleDOI
Control experiments on a two-link robot with a flexible forearm
TL;DR: In this article, a planar two-link manipulator with revolute joints and a very flexible forearm is presented, where link deflection is expressed in terms of orthonormal mode shapes of the associated eigenvalue problem.