284 citations · 1.2k across the 27 of their papers we have counts for
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A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control
Markus Giftthaler, Michael Neunert, Markus Stäuble +2
This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control. We generalize the well-known iLQR algorithm to different multiple-shooting varia…
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…
An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion
Farbod Farshidian, Michael Neunert, Alexander W. Winkler +2
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem…
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…
Risk Sensitive, Nonlinear Optimal Control: Iterative Linear Exponential-Quadratic Optimal Control with Gaussian Noise
Farbod Farshidian, Jonas Buchli
In this contribution, we derive ILEG, an iterative algorithm to find risk sensitive solutions to nonlinear, stochastic optimal control problems. The algorithm is based on a linear…
Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops
Michele Focchi, Gustavo A. Medrano-Cerda, Thiago Boaventura +4
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from s…