Get our free extension to see links to code for papers anywhere online!

Chrome logo Add to Chrome

Firefox logo Add to Firefox

Picture for Ruben Grandia

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation


Mar 01, 2021
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, Marco Hutter

* 8 Pages, 10 Figures. Submitted to the International Conference on Intelligent Robots and Systems (IROS), 2019 

  Access Paper or Ask Questions

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


Oct 30, 2020
Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter

* Submitted to IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021 

  Access Paper or Ask Questions

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


Oct 13, 2020
Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter

* 8 pages, 6 figures, 1 table, 52 references, 9 equations 

  Access Paper or Ask Questions

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions


Jun 01, 2020
Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames


  Access Paper or Ask Questions

Feedback MPC for Torque-Controlled Legged Robots


May 15, 2019
Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter

* submitted to IROS 2019 

  Access Paper or Ask Questions

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization


Mar 09, 2019
Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter

* Accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA) 2019 

  Access Paper or Ask Questions

Whole-Body MPC for a Dynamically Stable Mobile Manipulator


Feb 27, 2019
Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter


  Access Paper or Ask Questions

Frequency-Aware Model Predictive Control


Feb 08, 2019
Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter

* IEEE Robotics and Automation Letters 2019 

  Access Paper or Ask Questions