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eess.SY2017
A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control
Markus Giftthaler, Michael Neunert, Markus Stäuble +2
This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control. We generalize the well-known iLQR algorithm to different multiple-shooting varia…
eess.SY2016★ 116 cited
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…