PhD Thesis 2018

The final code version achieved during the PhD work at ETH Zurich:

Winkler, A. W;
"Optimization-based motion planning for legged robots"
PhD Dissertation, ETH Zurich, [pdf]

IEEE RA-L 2018

This code was used for the the paper [ pdf ]:

Winkler, A. W; Bellicoso, D. C; Hutter, M.; and Buchli J.
"Gait and Trajectory Optimization for Legged Systems through Phase-based End-Effector Parameterization"
In 2018 IEEE/RSJ Robotics and Automation Letters (RA-L)

IEEE RA-L 2018 (initial)

This code was used for the initial submission of the RA-L 2018 paper:
(for the videos in the accepted version the code has been further improved)

IEEE RA-L 2017

This code was used to generate the motions in the following publication [ pdf ]:

Winkler, A. W; Farshidian, F.; Pardo, D.; Neunert, M.; and Buchli, J.
"Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints"
In 2017 IEEE/RSJ Robotics and Automation Letters (RA-L)

IEEE ICRA 2017

This code was used to generate the motions in the following publication [ pdf ]:

Winkler, A. W; Farshidian, F.; Neunert, M.; Pardo, D.; and Buchli, J.
"Online Walking Motion and Foothold Optimization for Quadruped Locomotion"
In 2017 IEEE International Conference on Robotics and Automation (ICRA).

IEEE ICRA 2015

This code was used to generate the motions in the following publication [ pdf ]:

Winkler, A. W; Mastalli, C; Havoutis, I; Focchi, M; and Caldwell, D; Semini, C.
"Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain"
In 2015 IEEE International Conference on Robotics and Automation (ICRA)