34 citations · 34 across the 1 of their papers we have counts for
2 papers
cs.RO2020★ 34 cited
Contact-Implicit Trajectory Optimization using an Analytically Solvable Contact Model for Locomotion on Variable Ground
Iordanis Chatzinikolaidis, Yangwei You, Zhibin Li
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and sli…
cs.RO2018
Comparison Study of Nonlinear Optimization of Step Durations and Foot Placement for Dynamic Walking
Wenbin Hu, Iordanis Chatzinikolaidis, Kai Yuan +1
This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the n…