119 citations · 593 across the 15 of their papers we have counts for
3 papers · 1 filter
Optimal and Learning Control for Autonomous Robots
Jonas Buchli, Farbod Farshidian, Alexander Winkler +2
Optimal and Learning Control for Autonomous Robots has been taught in the Robotics, Systems and Controls Masters at ETH Zurich with the aim to teach optimal control and reinforceme…
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…