Henrique Ferrolho

About

Henrique Ferrolho is a leading researcher in robotic locomotion and manipulation, specializing in the robust control of legged systems. His work centers on developing algorithms that enable quadruped robots with arms to perform complex, real-world tasks despite uncertainties in dynamics, sensor noise, or communication delays. Ferrolho’s most influential contribution is **RoLoMa**, a framework for robust loco-manipulation that integrates reactive control with trajectory optimization, amassing 57 citations since 2023. He has also advanced trajectory optimization through a feasibility-driven approach to Differential Dynamic Programming (DDP), addressing control-limited systems with 39 citations. His research on the **residual force polytope** provides a novel method for analyzing admissible task-space forces in dynamic trajectories, enhancing robustness to disturbances. Additionally, Ferrolho’s work on whole-body end-pose planning for legged robots on inclined surfaces has practical implications for humanoid robotics in complex environments. With a focus on bridging theory and real-world deployment, his contributions are shaping the next generation of resilient, autonomous robots capable of navigating and manipulating in unstructured settings.

Research Focus

Key Achievements

Top Papers

1. 1
   RoLoMa: robust loco-manipulation for quadruped robots with arms

   57 citations · 2023
2. 2
   A feasibility-driven approach to control-limited DDP

   39 citations · 2022
3. 3
   Residual force polytope: Admissible task-space forces of dynamic trajectories

   12 citations · 2021
4. 4
   Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments

   7 citations · 2018
5. 5
   Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

   3 citations · 2020
6. 6
   RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms

   2 citations · 2022

Key Collaborators

Contact & Links