Journal

• Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots

  A. Bratta, M. Focchi, N. Rathod, C. Semini Robotics, vol. 12(1), art. no. 6, 2023.

  Video
• Model Predictive Control with Environment Adaptation for Legged Locomotion

  N. Rathod, A. Bratta, M. Focchi, M. Zanon, O. Villarreal, C. Semini, A. Bemporad IEEE Access, vol. 9, pp. 145710-145727, 2021.

  Video
• Modelling and predictive control of a solar cooling plant with flexible configuration

  N. Rathod, A. La Bella , G. Puleo, R. Scattolini , A. Rossetti , C. Sandroni Journal of Process Control, 76, 74–86, 2019.

Conference

• Towards a Nonlinear Model Predictive Control for Quadrupedal Locomotion on Rough Terrain

  A. Bratta, N. Rathod, M. Zanon, O. Villarreal, A. Bemporad, C. Semini, M. Focchi Italian Institute of Robotics and Intelligent Machines (I-RIM) Conference, 3rd edition, Rome, Italy, 2021.

Thesis

• Model Predictive Control for Legged Robots

  Niraj Rathod IMT Institute for Advanced Studies Lucca, 2023.

  [Presentation]
• Modelling, simulation and predictive control of the medium temperature Solar Cooling Plant

  Niraj Rathod Scuola di Ingegneria Industriale e dell’Informazione, Politecnico di Milano, 2017.
• Design and development of the Variable Area Flowmeter

  Niraj Rathod Instrumentation and Control Department, College of Engineering Pune, 2011.

Workshop

• Real-time MPC with Mobility-enhanced Feature for Legged Locomotion

  N. Rathod, A. Bratta, M. Focchi, M. Zanon, O. Villarreal, C. Semini, A. Bemporad Towards Real-World Deployment of Legged Robots, ICRA, Xi’an China, 2021.
• Optimal control based re-planning for Quadruped robots

  N. Rathod, M. Focchi, M. Zanon, A. Bemporad Numerical Optimization for Online Multi-Contact Planning and Control Robotics: Science and Systems, Freiburg, Germany, 2019.