Model Predictive Control of Robots

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Publications

Humanoid motion generation in a world of stairs	2023
An Intrinsically Stable MPC Approach for Anti-Jackknifing Control of Tractor-Trailer Vehicles	2022
From Walking to Running: 3D Humanoid Gait Generation via MPC	2022
Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots	2022
Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot with Uncert...	2021
Humanoid gait generation via MPC: stability, robustness and extensions	2020-02-21
An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay	2020
Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC	2020
Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC	2020
Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot	2020
Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot	2020
MPC for Humanoid Gait Generation: Stability and Feasibility	2020
MPC for Humanoid Gait Generation: Stability and Feasibility	2020
Robust MPC-Based Gait Generation in Humanoids	2020
An online learning procedure for feedback linearization control without torque measurements	2019
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances	2019
Stable Torque Optimization for Redundant Robots Using a Short Preview	2019
Sensor-Based Task-Constrained Motion Planning using Model Predictive Control	2018
MPC-based humanoid pursuit-evasion in the presence of obstacles	2017
Intrinsically Stable MPC for Humanoid Gait Generation	2016
Intrinsically Stable MPC for Humanoid Gait Generation	2016
A model predictive control approach for the Partner Ballroom Dance Robot	2015
Adaptive predictive gaze control of a redundant humanoid robot head	2011

Eventi

21May 26

Self-Supervised Learning, JEPA, World Models, and AI’s future

Alfredo Canziani

Persone

	Barros Carlos Barbara
	Belvedere Tommaso
	Capotondi Marco
	De Luca Alessandro
	Ferrari Paolo
	Lanari Leonardo
	Modugno Valerio
	Scianca Nicola
	Smaldone Filippo Maria
	Tarantos Spyridon
	Turrisi Giulio

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