241 citations · 575 across the 17 of their papers we have counts for
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cs.RO2020
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas
Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin +3
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its b…
cs.RO2020
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
Stefano Dafarra, Giulio Romualdi, Giorgio Metta +1
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction…