284 citations · 1.2k across the 27 of their papers we have counts for
4 papers · 1 filter
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…
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.…
An Open Source, Fiducial Based, Visual-Inertial Motion Capture System
Michael Neunert, Michael Bloesch, Jonas Buchli
Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motio…
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…