62 citations · 94 across the 4 of their papers we have counts for
4 papers
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…
Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems
Farbod Farshidian, Maryam Kamgarpour, Diego Pardo +1
In this contribution, we introduce an efficient method for solving the optimal control problem for an unconstrained nonlinear switched system with an arbitrary cost function. We as…
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.…
Evaluating direct transcription and nonlinear optimization methods for robot motion planning
Diego Pardo, Lukas Möller, Michael Neunert +2
This paper studies existing direct transcription methods for trajectory optimization applied to robot motion planning. There are diverse alternatives for the implementation of dire…