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About

Leonardo Lanari is an Italian robotics researcher whose career spans foundational work in flexible robot dynamics, redundant manipulator control, and humanoid robotics. His early contributions tackled core challenges in compliant robotic systems: his 1990 experimental study on a two-link flexible forearm robot (46 citations) demonstrated real-world feasibility of advanced control for lightweight manipulators, while his 1992 and 2002 work established asymptotic stability results and exact eigenfunction models for flexible slewing links (41 and 151 citations, respectively), the latter becoming a landmark reference in the field. His 2003 investigation into cyclic trajectory control for redundant robots (79 citations) addressed the persistent problem of non-repeatable joint motions, providing rigorous controllability analysis with lasting practical relevance. Lanari later expanded his focus toward humanoid locomotion and manipulation. His contributions to biped trajectory planning using the Linear Inverted Pendulum Model (49 citations) and Model Predictive Control for 3D gait generation on uneven terrain reflect a commitment to bridging theory and deployment. Most visibly, his collaborative work on humanoid robots in Airbus manufacturing (94 citations) and a multimode teleoperation framework for the iCub robot (40 citations) demonstrate significant real-world impact. Collectively, his publications reflect a career dedicated to making articulated robotic systems both mathematically rigorous and operationally viable.