119 citations · 249 across the 4 of their papers we have counts for
4 papers
QuestSim: Human Motion Tracking from Sparse Sensors with Simulated Avatars
Alexander Winkler, Jungdam Won, Yuting Ye
Real-time tracking of human body motion is crucial for interactive and immersive experiences in AR/VR. However, very limited sensor data about the body is available from standalone…
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis +3
We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build…
On-line and on-board planning and perception for quadrupedal locomotion
Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler +2
We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a…
Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints
Alexander W Winkler, Farbod Farshidian, Diego Pardo +2
This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optim…