284 citations · 1.2k across the 27 of their papers we have counts for
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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…
Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds
Michael Neunert, Farbod Farshidian, Alexander W. Winkler +1
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automaticall…