Ivo Vatavuk

Research Associate at LARICS

About Me

Hi, my name is Ivo and I’m a robotics researcher at LARICS, FER Croatia.

Some of my skills are: C++, Python, ROS, Gazebo, MATLAB, Git, Docker

Robotics projects

Backflip Learning using a Centroidal Dynamics based Mutation-Selection Algorithm

One-legged backflip with different starting heights Floating-base dynamics Hybrid dynamics Mutation-selection algorithm

Precise Jump Planning using Centroidal Dynamics based Bilevel Optimization

Precise Jump Planning using Centroidal Dynamics based Bilevel Optimization Floating-base dynamics Hybrid dynamics Bilevel optimization

Full video is available at: https://www.youtube.com/watch?v=ExyAfaFHGJE

Paper: https://doi.org/10.1109/ICRA48506.2021.9561101

Autonomous Mobile Manipulation in a Wall-building Scenario":" Team LARICS at MBZIRC 2020

Team LARICS at MBZIRC 2020 Mobile manipulation Visual servoing Computer vision Navigation SLAM

Full video is available at: https://www.youtube.com/watch?v=0C_E7tGCZ5k

Paper: https://doi.org/10.55417/fr.2022008

MBZIRC 2023 simulation phase

MBZIRC 2023 Manipulation Visual servoing Aerial manipulation ROS 2

Task Space MPC for Vineyard Spraying with a Mobile Manipulator

Task Space MPC for Vineyard Spraying with a Mobile Manipulator Mobile manipulation MPC Redundancy resolution

Full video is available at: https://www.youtube.com/watch?v=BDO7qQldmyQ

Paper: https://doi.org/10.3390/agriculture12030381

Constrained Prioritized 3T2R Task Control for Robotic Agricultural Spraying

Constrained Prioritized 3T2R Task Control for Robotic Agricultural Spraying Robot manipulation Prioritized optimization Redundancy resolution

Prioritized Inverse Kinematics ROS Library

github.com/ivatavuk/pik_ros

Prioritized Inverse Kinematics ROS Library Robot manipulation Inverse kinematics Prioritized optimization Redundancy resolution

Direct Drive Brush-Shaped Tool for Compliant Robotic Vine Suckering

Direct Drive Brush-Shaped Tool for Compliant Robotic Vine Suckering Direct drive actuation Compliant manipulation

Full video is available at: https://www.youtube.com/watch?v=5OMa_ViNi7M

Paper: https://doi.org/10.3390/s23031195

Plant Exploration for Viticultural Suckering using an Axis Symmetric Brush-Shaped Tool with Torque Sensing

Plant Exploration Compliant manipulation Prioritized optimization Redundancy resolution