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11/18/2022
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation
Mobile manipulation in robotics is challenging due to the need of solvin...
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07/29/2022
Collision detection and identification for a legged manipulator
To safely deploy legged robots in the real world it is necessary to prov...
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12/08/2021
Adaptive CLF-MPC With Application To Quadrupedal Robots
Modern robotic systems are endowed with superior mobility and mechanical...
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12/01/2021
Deep Measurement Updates for Bayes Filters
Measurement update rules for Bayes filters often contain hand-crafted he...
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08/17/2021
Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays
When dealing with the haptic teleoperation of multi-limbed mobile manipu...
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06/08/2021
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks
Modern, torque-controlled service robots can regulate contact forces whe...
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03/01/2021
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
In this paper, we propose a whole-body planning framework that unifies d...
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02/27/2019