62 citations · 94 across the 4 of their papers we have counts for
Showing cs.ROShow all
2 papers · 1 filter
cs.RO2017
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…
cs.RO2015★ 3 cited
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.…