214 citations · 432 across the 7 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…
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter +38
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy h…