119 citations · 593 across the 15 of their papers we have counts for
6 papers · 1 filter
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…
Robust Whole-Body Motion Control of Legged Robots
Farbod Farshidian, Edo Jelavić, Alexander W. Winkler +1
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact fo…
Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds
Michael Neunert, Farbod Farshidian, Alexander W. Winkler +1
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automaticall…
Projection based whole body motion planning for legged robots
Diego Pardo, Michael Neunert, Alexander W. Winkler +1
In this paper we present a new approach for dynamic motion planning for legged robots. We formulate a trajectory optimization problem based on a compact form of the robot dynamics.…