107 citations · 108 across the 3 of their papers we have counts for
3 papers
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…
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti +1
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We m…
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…