Ruben Grandia

According to our database, Ruben Grandia authored at least 23 papers between 2017 and 2023.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of four.

2023

Optimal Design of Robotic Character Kinematics.

Guirec Maloisel, Christian Schumacher, Espen Knoop, Ruben Grandia, Moritz Bächer

ACM Trans. Graph., December, 2023

Perceptive Locomotion Through Nonlinear Model-Predictive Control.

Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter

IEEE Trans. Robotics, October, 2023

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots.

Ruben Grandia, Farbod Farshidian, Espen Knoop, Christian Schumacher, Marco Hutter, Moritz Bächer

ACM Trans. Graph., August, 2023

2022

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems.

Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter

IEEE Trans. Robotics, 2022

Adaptive CLF-MPC With Application to Quadrupedal Robots.

Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter

IEEE Robotics Autom. Lett., 2022

Offline motion libraries and online MPC for advanced mobility skills.

Marko Bjelonic, Ruben Grandia, Moritz Geilinger, Oliver Harley, Vivian Suzano Medeiros, Vuk Pajovic, Edo Jelavic, Stelian Coros, Marco Hutter

Int. J. Robotics Res., 2022

Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics.

Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames

CoRR, 2022

Elevation Mapping for Locomotion and Navigation using GPU.

Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics.

Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

2021

Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots.

Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks.

Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control.

Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020

Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet.

Giorgio Valsecchi, Ruben Grandia, Marco Hutter

IEEE Robotics Autom. Lett., 2020

Towards autonomous inspection of concrete deterioration in sewers with legged robots.

Hendrik Kolvenbach, David Wisth, Russell Buchanan, Giorgio Valsecchi, Ruben Grandia, Maurice F. Fallon, Marco Hutter

J. Field Robotics, 2020

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions.

Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames

Proceedings of the Robotics: Science and Systems XVI, 2020

2019

Whole-Body MPC for a Dynamically Stable Mobile Manipulator.

Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter

IEEE Robotics Autom. Lett., 2019

Haptic Inspection of Planetary Soils With Legged Robots.

Hendrik Kolvenbach, Christian Bärtschi, Lorenz Wellhausen, Ruben Grandia, Marco Hutter

IEEE Robotics Autom. Lett., 2019

Frequency-Aware Model Predictive Control.

Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter

IEEE Robotics Autom. Lett., 2019

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation.

Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, Marco Hutter

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Feedback MPC for Torque-Controlled Legged Robots.

Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization.

Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter

Proceedings of the International Conference on Robotics and Automation, 2019

2018

Contact Invariant Model Learning for Legged Robot Locomotion.

Ruben Grandia, Diego Pardo, Jonas Buchli

IEEE Robotics Autom. Lett., 2018

2017

Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion.

Diego Pardo, Michael Neunert, Alexander W. Winkler, Ruben Grandia, Jonas Buchli

Proceedings of the Robotics: Science and Systems XIII, 2017