research
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03/14/2022
Agile Maneuvers in Legged Robots: a Predictive Control Approach
Achieving agile maneuvers through multiple contact phases has been a lon...
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03/08/2021
Co-Designing Robots by Differentiating Motion Solvers
We present a novel algorithm for the computational co-design of legged r...
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10/01/2020
A Direct-Indirect Hybridization Approach to Control-Limited DDP
Optimal control is a widely used tool for synthesizing motions and contr...
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03/11/2020
