115 citations · 225 across the 6 of their papers we have counts for
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cs.RO2017★ 115 cited
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
Farbod Farshidian, Edo Jelavić, Asutosh Satapathy +2
We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorit…
cs.RO2017★ 25 cited
Robust Whole-Body Motion Control of Legged Robots
Farbod Farshidian, Edo Jelavić, Alexander W. Winkler +1
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact fo…