107 citations · 442 across the 20 of their papers we have counts for
3 papers · 1 filter
Feedback MPC for Torque-Controlled Legged Robots
Ruben Grandia, Farbod Farshidian, René Ranftl +1
The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynami…
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
Tim Seyde, Jan Carius, Ruben Grandia +2
Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a su…
Whole-Body MPC for a Dynamically Stable Mobile Manipulator
Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia +1
Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body o…