284 citations · 1.1k across the 28 of their papers we have counts for
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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…
cs.RO2016★ 4 cited
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…