Tifanny Portela

2 accepted papers

2025

Whole-Body End-Effector Pose Tracking

Tifanny Portela, Andrei Cramariuc, Mayank Mittal, Marco Hutter

ICRA 2025

Combining manipulation with the mobility of legged robots is essential for a wide range of robotic applications. However, integrating an arm with a mobile base significantly increases the system's complexity, making precise end-effector control challenging. Existing model-based approaches are often

Cited by 17 Source ↗Scholar ↗

2024

Learning Force Control for Legged Manipulation

Tifanny Portela, Gabriel B. Margolis, Yandong Ji, Pulkit Agrawal

ICRA 2024poster

Controlling the contact force during interactions is an inherent requirement for locomotion and manipulation tasks. Current reinforcement learning approaches to locomotion and manipulation rely implicitly on forceful interaction to accomplish tasks but do not explicitly regulate it. This paper propo…

Cited by 18 Source ↗code ↗Scholar ↗