115 citations · 169 across the 2 of their papers we have counts for
2 papers
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★ 54 cited
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
Markus Giftthaler, Michael Neunert, Markus Stäuble +3
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradi…