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ORCIDRuben Grandia
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Journal Articles
- 2023
[j12]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): 96:1-96:14 (2023)- [j11]Guirec Maloisel, Christian Schumacher, Espen Knoop, Ruben Grandia, Moritz Bächer:
Optimal Design of Robotic Character Kinematics. ACM Trans. Graph. 42(6): 195:1-195:15 (2023) - [j10]Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter:
Perceptive Locomotion Through Nonlinear Model-Predictive Control. IEEE Trans. Robotics 39(5): 3402-3421 (2023) - 2022
- [j9]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): 903-924 (2022) - [j8]Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter:
Adaptive CLF-MPC With Application to Quadrupedal Robots. IEEE Robotics Autom. Lett. 7(1): 565-572 (2022) - [j7]Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter:
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. IEEE Trans. Robotics 38(6): 3395-3413 (2022) - 2020
- [j6]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): 1314-1327 (2020) - [j5]Giorgio Valsecchi, Ruben Grandia, Marco Hutter:
Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet. IEEE Robotics Autom. Lett. 5(2): 1548-1555 (2020) - 2019
- [j4]Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter:
Frequency-Aware Model Predictive Control. IEEE Robotics Autom. Lett. 4(2): 1517-1524 (2019) - [j3]Hendrik Kolvenbach, Christian Bärtschi, Lorenz Wellhausen, Ruben Grandia, Marco Hutter:
Haptic Inspection of Planetary Soils With Legged Robots. IEEE Robotics Autom. Lett. 4(2): 1626-1632 (2019) - [j2]Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter:
Whole-Body MPC for a Dynamically Stable Mobile Manipulator. IEEE Robotics Autom. Lett. 4(4): 3687-3694 (2019) - 2018
- [j1]Ruben Grandia, Diego Pardo, Jonas Buchli:
Contact Invariant Model Learning for Legged Robot Locomotion. IEEE Robotics Autom. Lett. 3(3): 2291-2298 (2018)
Conference and Workshop Papers
- 2022
- [c10]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: 622-629 - [c9]Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter:
Elevation Mapping for Locomotion and Navigation using GPU. IROS 2022: 2273-2280 - 2021
- [c8]Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter:
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. ICRA 2021: 1651-1657 - [c7]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: 8352-8358 - [c6]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: 8388-8395 - 2020
- [c5]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 - 2019
- [c4]Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter:
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. ICRA 2019: 5544-5550 - [c3]Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter:
Feedback MPC for Torque-Controlled Legged Robots. IROS 2019: 4730-4737 - [c2]Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, Marco Hutter:
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation. IROS 2019: 6814-6821 - 2017
- [c1]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
Informal and Other Publications
- 2022
- [i14]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 abs/2203.07429 (2022) - [i13]Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter:
Elevation Mapping for Locomotion and Navigation using GPU. CoRR abs/2204.12876 (2022) - [i12]Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter:
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. CoRR abs/2206.14049 (2022) - [i11]Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter:
Perceptive Locomotion through Nonlinear Model Predictive Control. CoRR abs/2208.08373 (2022) - 2021
- [i10]Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, Marco Hutter:
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation. CoRR abs/2103.01104 (2021) - [i9]Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter:
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. CoRR abs/2106.04202 (2021) - [i8]Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter:
Adaptive CLF-MPC With Application To Quadrupedal Robots. CoRR abs/2112.04536 (2021) - 2020
- [i7]Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames:
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. CoRR abs/2006.01229 (2020) - [i6]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 abs/2010.06322 (2020) - [i5]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 abs/2011.00032 (2020) - 2019
- [i4]Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter:
Whole-Body MPC for a Dynamically Stable Mobile Manipulator. CoRR abs/1902.10415 (2019) - [i3]Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter:
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. CoRR abs/1903.03823 (2019) - [i2]Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter:
Feedback MPC for Torque-Controlled Legged Robots. CoRR abs/1905.06144 (2019) - 2018
- [i1]Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter:
Frequency-Aware Model Predictive Control. CoRR abs/1809.04539 (2018)
Coauthor Index
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