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Ruben Grandia
Ruben Grandia
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Feedback MPC for torque-controlled legged robots
R Grandia, F Farshidian, R Ranftl, M Hutter
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2019
1182019
Multi-layered safety for legged robots via control barrier functions and model predictive control
R Grandia, AJ Taylor, AD Ames, M Hutter
2021 IEEE International Conference on Robotics and Automation (ICRA), 8352-8358, 2021
802021
Whole-body mpc for a dynamically stable mobile manipulator
MV Minniti, F Farshidian, R Grandia, M Hutter
IEEE Robotics and Automation Letters 4 (4), 3687-3694, 2019
742019
Haptic inspection of planetary soils with legged robots
H Kolvenbach, C Bärtschi, L Wellhausen, R Grandia, M Hutter
IEEE Robotics and Automation Letters 4 (2), 1626-1632, 2019
472019
Whole-body mpc and online gait sequence generation for wheeled-legged robots
M Bjelonic, R Grandia, O Harley, C Galliard, S Zimmermann, M Hutter
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021
442021
Frequency-aware model predictive control
R Grandia, F Farshidian, A Dosovitskiy, R Ranftl, M Hutter
IEEE Robotics and Automation Letters 4 (2), 1517-1524, 2019
432019
Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion.
D Pardo, M Neunert, AW Winkler, R Grandia, J Buchli
Robotics: Science and Systems 10, 2017
402017
Perceptive Locomotion Through Nonlinear Model-Predictive Control
R Grandia, F Jenelten, S Yang, F Farshidian, M Hutter
IEEE Transactions on Robotics, 2023
372023
Towards autonomous inspection of concrete deterioration in sewers with legged robots
H Kolvenbach, D Wisth, R Buchanan, G Valsecchi, R Grandia, M Fallon, ...
Journal of field robotics 37 (8), 1314-1327, 2020
372020
Nonlinear model predictive control of robotic systems with control lyapunov functions
R Grandia, AJ Taylor, A Singletary, M Hutter, AD Ames
Proceedings of Robotics: Science and Systems, 2020
372020
Contact-implicit trajectory optimization for dynamic object manipulation
JP Sleiman, J Carius, R Grandia, M Wermelinger, M Hutter
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2019
322019
Offline motion libraries and online MPC for advanced mobility skills
M Bjelonic, R Grandia, M Geilinger, O Harley, VS Medeiros, V Pajovic, ...
The International Journal of Robotics Research 41 (9-10), 903-924, 2022
272022
Quadrupedal locomotion on uneven terrain with sensorized feet
G Valsecchi, R Grandia, M Hutter
IEEE Robotics and Automation Letters 5 (2), 1548-1555, 2020
252020
Elevation mapping for locomotion and navigation using gpu
T Miki, L Wellhausen, R Grandia, F Jenelten, T Homberger, M Hutter
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022
242022
TAMOLS: Terrain-aware motion optimization for legged systems
F Jenelten, R Grandia, F Farshidian, M Hutter
IEEE Transactions on Robotics 38 (6), 3395-3413, 2022
242022
Model predictive robot-environment interaction control for mobile manipulation tasks
MV Minniti, R Grandia, K Fäh, F Farshidian, M Hutter
2021 IEEE International Conference on Robotics and Automation (ICRA), 1651-1657, 2021
232021
Adaptive CLF-MPC with application to quadrupedal robots
MV Minniti, R Grandia, F Farshidian, M Hutter
IEEE Robotics and Automation Letters 7 (1), 565-572, 2021
222021
Tactile inspection of concrete deterioration in sewers with legged robots
H Kolvenbach, G Valsecchi, R Grandia, A Ruiz, F Jenelten, M Hutter
12th Conference on Field and Service Robotics (FSR 2019), 2019
182019
Locomotion planning through a hybrid bayesian trajectory optimization
T Seyde, J Carius, R Grandia, F Farshidian, M Hutter
2019 International Conference on Robotics and Automation (ICRA), 5544-5550, 2019
162019
Contact invariant model learning for legged robot locomotion
R Grandia, D Pardo, J Buchli
IEEE Robotics and Automation Letters 3 (3), 2291-2298, 2018
112018
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