| 2024 | IROS | Joint-Level IS-MPC: a Whole-Body MPC with Centroidal Feasibility for Humanoid Locomotion. | Tommaso Belvedere, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo |
| 2022 | ICRA | Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots. | Marco Kanneworff, Tommaso Belvedere, Nicola Scianca, Filippo M. Smaldone, Leonardo Lanari, Giuseppe Oriolo |
| 2022 | IROS | Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation. | Andrew S. Habib, Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo |
| 2020 | ICRA | Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC. | Manuel Beglini, Leonardo Lanari, Giuseppe Oriolo |
| 2020 | ICRA | ZMP Constraint Restriction for Robust Gait Generation in Humanoids. | Filippo M. Smaldone, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo |
| 2017 | ICRA | Real-time pursuit-evasion with humanoid robots. | Marco Cognetti, Daniele De Simone, Federico Patota, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo |
| 2017 | IROS | MPC-based humanoid pursuit-evasion in the presence of obstacles. | Daniele De Simone, Nicola Scianca, Paolo Ferrari, Leonardo Lanari, Giuseppe Oriolo |
| 2016 | ICRA | Real-time planning and execution of evasive motions for a humanoid robot. | Marco Cognetti, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo |
| 2016 | IROS | Optimal double support zero moment point trajectories for bipedal locomotion. | Leonardo Lanari, Seth Hutchinson |
| 2016 | RoboCup | Boundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model. | Leonardo Lanari, Oliver Urbann, Seth Hutchinson, Ingmar Schwarz |
| 2015 | IROS | Inversion-based gait generation for humanoid robots. | Leonardo Lanari, Seth Hutchinson |
| 2014 | ICRA | Manual guidance of humanoid robots without force sensors: Preliminary experiments with NAO. | Marco Bellaccini, Leonardo Lanari, Antonio Paolillo, Marilena Vendittelli |
| 1996 | ICRA | Tracking with disturbance attenuation for rigid robots. | Stefano Battilotti, Leonardo Lanari |
| 1993 | ICRA | Stability Analysis for Feedforward Approximations in the Control of Flexible Joint Robots. | Leonardo Lanari, Pierre Sicard, John T. Wen |
| 1992 | ICRA | Control of redundant robots on cyclic trajectories. | Alessandro De Luca, Leonardo Lanari, Giuseppe Oriolo |
| 1991 | IROS | A family of asymptotically stable tracking control laws for flexible robots. | Leonardo Lanari, John T. Wen |
| 1990 | ICRA | Exact modeling of the flexible slewing link. | F. Bellezza, Leonardo Lanari, Giovanni Ulivi |