284 citations · 1.2k across the 27 of their papers we have counts for
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eess.SY2016★ 116 cited
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…
eess.SY2016★ 29 cited
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…