Ruben Grandia

Publication Activity (10 Years)

Years Active: 2017-2023
Publications (10 Years): 36

Top Topics

Inverted Pendulum

Object Manipulation

Predictive Control

Top Venues

IEEE Robotics Autom. Lett.

Publications

Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter
Perceptive Locomotion Through Nonlinear Model-Predictive Control. IEEE Trans. Robotics 39 (5) (2023)
Ruben Grandia, Farbod Farshidian, Espen Knoop, Christian Schumacher, Marco Hutter, Moritz Bächer
DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots. ACM Trans. Graph. 42 (4) (2023)
Guirec Maloisel, Christian Schumacher, Espen Knoop, Ruben Grandia, Moritz Bächer
Optimal Design of Robotic Character Kinematics. ACM Trans. Graph. 42 (6) (2023)
Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter
Elevation Mapping for Locomotion and Navigation using GPU. IROS (2022)
Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. CoRR (2022)
Marko Bjelonic, Ruben Grandia, Moritz Geilinger, Oliver Harley, Vivian Suzano Medeiros, Vuk Pajovic, Edo Jelavic, Stelian Coros, Marco Hutter
Offline motion libraries and online MPC for advanced mobility skills. Int. J. Robotics Res. 41 (9-10) (2022)
Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. Humanoids (2022)
Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. IEEE Trans. Robotics 38 (6) (2022)
Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter
Perceptive Locomotion through Nonlinear Model Predictive Control. CoRR (2022)
Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter
Elevation Mapping for Locomotion and Navigation using GPU. CoRR (2022)
Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter
Adaptive CLF-MPC With Application to Quadrupedal Robots. IEEE Robotics Autom. Lett. 7 (1) (2022)
Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. CoRR (2022)
Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots. IROS (2021)
Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. ICRA (2021)
Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. ICRA (2021)
Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. CoRR (2021)
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, Marco Hutter
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation. CoRR (2021)
Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter
Adaptive CLF-MPC With Application To Quadrupedal Robots. CoRR (2021)
Hendrik Kolvenbach, David Wisth, Russell Buchanan, Giorgio Valsecchi, Ruben Grandia, Maurice F. Fallon, Marco Hutter
Towards autonomous inspection of concrete deterioration in sewers with legged robots. J. Field Robotics 37 (8) (2020)
Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots. CoRR (2020)
Giorgio Valsecchi, Ruben Grandia, Marco Hutter
Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet. IEEE Robotics Autom. Lett. 5 (2) (2020)
Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. CoRR (2020)
Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. CoRR (2020)
Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. Robotics: Science and Systems (2020)
Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter
Feedback MPC for Torque-Controlled Legged Robots. IROS (2019)
Hendrik Kolvenbach, Christian Bärtschi, Lorenz Wellhausen, Ruben Grandia, Marco Hutter
Haptic Inspection of Planetary Soils With Legged Robots. IEEE Robotics Autom. Lett. 4 (2) (2019)
Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. CoRR (2019)
Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter
Frequency-Aware Model Predictive Control. IEEE Robotics Autom. Lett. 4 (2) (2019)
Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. ICRA (2019)
Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter
Whole-Body MPC for a Dynamically Stable Mobile Manipulator. CoRR (2019)
Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter
Feedback MPC for Torque-Controlled Legged Robots. CoRR (2019)
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, Marco Hutter
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation. IROS (2019)
Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter
Whole-Body MPC for a Dynamically Stable Mobile Manipulator. IEEE Robotics Autom. Lett. 4 (4) (2019)
Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter
Frequency-Aware Model Predictive Control. CoRR (2018)
Ruben Grandia, Diego Pardo, Jonas Buchli
Contact Invariant Model Learning for Legged Robot Locomotion. IEEE Robotics Autom. Lett. 3 (3) (2018)
Diego Pardo, Michael Neunert, Alexander W. Winkler, Ruben Grandia, Jonas Buchli
Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion. Robotics: Science and Systems (2017)