107 citations · 442 across the 20 of their papers we have counts for
4 papers · 1 filter
Perceptive Locomotion through Nonlinear Model Predictive Control
Ruben Grandia, Fabian Jenelten, Shaohui Yang +2
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such mo…
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Fabian Jenelten, Ruben Grandia, Farbod Farshidian +1
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents…
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…
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics
Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia +4
The ability to generate dynamic walking in real-time for bipedal robots with input constraints and underactuation has the potential to enable locomotion in dynamic, complex and uns…