Application of Wrench based Feasibility Analysis to the Online
Trajectory Optimization of Legged Robots

Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots

19 December 2017

Carlos Mastalli

Hongkai Dai

Claudio Semini

Papers citing "Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots"

5 / 5 papers shown

Title
ALPINE: a climbing robot for operations in mountain environments Michele Focchi Andrea Del Prete Daniele Fontanelli Marco Frego Angelika Peer Luigi Palopoli 50 0 0 22 Mar 2024
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization Bernardo Aceituno-Cabezas Carlos Mastalli Hongkai Dai Michele Focchi A. Radulescu Darwin G. Caldwell J. Cappelletto J. Grieco Gerardo Fernández-López Claudio Semini 52 151 0 09 Apr 2019
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP) Romeo Orsolino Michele Focchi Carlos Mastalli Hongkai Dai D. Caldwell Claudio Semini 37 2 0 07 Dec 2017
Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints Alexander Winkler Farbod Farshidian D. Pardo Michael Neunert J. Buchli 50 78 0 27 May 2017
Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum Stéphane Caron A. Kheddar 47 35 0 02 Mar 2017