27 citations · 33 across the 6 of their papers we have counts for
4 papers · 1 filter
Borinot: an open thrust-torque-controlled robot for research on agile aerial-contact motion
Josep Martí-Saumell, Hugo Duarte, Patrick Grosch +3
This paper introduces Borinot, an open-source aerial robotic platform designed to conduct research on hybrid agile locomotion and manipulation using flight and contacts. This platf…
WOLF: A modular estimation framework for robotics based on factor graphs
Joan Sola, Joan Vallve, Joaquim Casals +5
This paper introduces WOLF, a C++ estimation framework based on factor graphs and targeted at mobile robotics. WOLF can be used beyond SLAM to handle self-calibration, model identi…
Full-Body Torque-Level Non-linear Model Predictive Control for Aerial Manipulation
Josep Martí-Saumell, Joan Solà, Angel Santamaria-Navarro +1
Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings imp…
Multi-task closed-loop inverse kinematics stability through semidefinite programming
Josep Marti-Saumell, Angel Santamaria-Navarro, Carlos Ocampo-Martinez +1
Today's complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulat…