107 citations · 186 across the 12 of their papers we have counts for
5 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…
Deep Measurement Updates for Bayes Filters
Johannes Pankert, Maria Vittoria Minniti, Lorenz Wellhausen +1
Measurement update rules for Bayes filters often contain hand-crafted heuristics to compute observation probabilities for high-dimensional sensor data, like images. In this work, w…
Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays
Mattia Risiglione, Jean-Pierre Sleiman, Maria Vittoria Minniti +3
When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the…
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…