Get started
Author

Ruben Grandia

Observed name: Grandia, Ruben
ORCID: 0000-0002-8971-6843
Observed ORCID: 0000-0002-8971-6843
OpenAlex ID: A5058327332
Perceptive Locomotion Through Nonlinear Model-Predictive Control
2023 · Ruben Grandia, Fabian Jenelten, et al. · IEEE Transactions on Robotics · 320
PDF
Feedback MPC for Torque-Controlled Legged Robots
2019 · Ruben Grandia, Farbod Farshidian, et al. · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 198
PDF
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
2021 · Ruben Grandia, Andrew J. Taylor, et al. · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · 146
PDF
Elevation Mapping for Locomotion and Navigation using GPU
2022 · Takahiro Miki, Lorenz Wellhausen, et al. · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 144
PDF
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots
2021 · Marko Bjelonic, Ruben Grandia, et al. · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 144
PDF
Whole-Body MPC for a Dynamically Stable Mobile Manipulator
2019 · Maria Vittoria Minniti, Farbod Farshidian, et al. · IEEE Robotics and Automation Letters · 111
PDF
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
2022 · Fabian Jenelten, Ruben Grandia, et al. · IEEE Transactions on Robotics · 104
PDF
Offline motion libraries and online MPC for advanced mobility skills
2022 · Marko Bjelonic, Ruben Grandia, et al. · The International Journal of Robotics Research · 91
Towards autonomous inspection of concrete deterioration in sewers with legged robots
2020 · Hendrik Kolvenbach, David Wisth, et al. · Journal of Field Robotics · 80
Adaptive CLF-MPC With Application to Quadrupedal Robots
2021 · Maria Vittoria Minniti, Ruben Grandia, et al. · IEEE Robotics and Automation Letters · 79
PDF
Haptic Inspection of Planetary Soils With Legged Robots
2019 · Hendrik Kolvenbach, Christian Bartschi, et al. · IEEE Robotics and Automation Letters · 74
Frequency-Aware Model Predictive Control
2019 · Ruben Grandia, Farbod Farshidian, et al. · IEEE Robotics and Automation Letters · 57
PDF
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
2020 · Ruben Grandia, Andrew Taylor, et al. · Robotics: Science and Systems · 56
PDF
Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet
2020 · Giorgio Valsecchi, Ruben Grandia, et al. · IEEE Robotics and Automation Letters · 55
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks
2021 · Maria Vittoria Minniti, Ruben Grandia, et al. · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · 54
PDF
Design and Control of a Bipedal Robotic Character
2024 · Ruben Grandia, Espen Knoop, et al. · Robotics: Science and Systems · 53
PDF
Attention-based map encoding for learning generalized legged locomotion
2025 · Junzhe He, Chong Zhang, et al. · Science Robotics · 49
PDF
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
2019 · Jean-Pierre Sleiman, Jan Carius, et al. · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 42
PDF
Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion
2017 · Diego Pardo, Michael Neunert, et al. · Robotics: Science and Systems · 35
Robot Motion Diffusion Model: Motion Generation for Robotic Characters
2024 · Agon Serifi, Ruben Grandia, et al. · SIGGRAPH Asia Conference Papers · 28
DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots
2023 · Ruben Grandia, Farbod Farshidian, et al. · ACM Transactions on Graphics · 26
PDF
VMP: Versatile Motion Priors for Robustly Tracking Motion on Physical Characters
2024 · Agon Serifi, Ruben Grandia, et al. · Computer Graphics Forum · 24
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics
2022 · Manuel Y. Galliker, Noel Csomay-Shanklin, et al. · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · 20
PDF
Tactile Inspection of Concrete Deterioration in Sewers with Legged Robots
2019 · Kolvenbach, Hendrik, Valsecchi, Giorgio, et al. · Repository for Publications and Research Data (ETH Zurich) · 13
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
2019 · Tim Seyde, Jan Carius, et al. · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · 13
PDF
Works count: 45
Citation count: 2,109
H-index: 22
I10-index: 29
Year
Topic
Type