107 citations · 149 across the 4 of their papers we have counts for
9 papers
Elevation Mapping for Locomotion and Navigation using GPU
Takahiro Miki, Lorenz Wellhausen, Ruben Grandia +3
Perceiving the surrounding environment is crucial for autonomous mobile robots. An elevation map provides a memory-efficient and simple yet powerful geometric representation for gr…
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks
Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh +2
Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the under…
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia +2
We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact mode…
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
Ruben Grandia, Andrew J. Taylor, Aaron D. Ames +1
The problem of dynamic locomotion over rough terrain requires both accurate foot placement together with an emphasis on dynamic stability. Existing approaches to this problem prior…
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots
Marko Bjelonic, Ruben Grandia, Oliver Harley +3
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction…
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
Ruben Grandia, Andrew J. Taylor, Andrew Singletary +2
The theoretical unification of Nonlinear Model Predictive Control (NMPC) with Control Lyapunov Functions (CLFs) provides a framework for achieving optimal control performance while…