Aug 2, 2018 · v1.4

A light-weight and extensible C++ library for trajectory optimization for legged robots. A base-set of variables, costs and constraints that can be combined and extended to formulate trajectory optimization problems for legged systems. These implementations have been used to generate a variety of motions such as monoped hopping, biped walking, or a complete quadruped trotting cycle, while optimizing over the gait and step durations in less than 100ms.
Star Download



July 25, 2018 · v2.0

An Eigen-based interface to Nonlinear Programming solvers, such as Ipopt and Snopt. The user defines the solver-independent optimization problem by set of C++ classes resembling variables, cost and constraints. Subsequently, the problem can then be solved with either solver. This package can also be dropped in your catkin workspace.
Star Download


July 23, 2018 · v1.0

A collection of ROS-packages for the visualization of motion plans for floating-base robots. Apart from drawing support areas, contact forces and motion trajectories in RVIZ, it also displays these plans for specific robots. Current robots include a one-legged, a two-legged hopper, HyQ and a quadrotor.
Star Download

LinkedIn  ·  Github  ·  Google Scholar  ·  Instagram

© 2017 Alexander W. Winkler. Built with Jekyll and Bootstrap.