107 citations · 343 across the 16 of their papers we have counts for
3 papers · 1 filter
Adaptive CLF-MPC With Application To Quadrupedal Robots
Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian +1
Modern robotic systems are endowed with superior mobility and mechanical skills that make them suited to be employed in real-world scenarios, where interactions with heavy objects…
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…