Follow @awinkler

Jan 23, 2018 · v1.0.1

Trajectory Optimizer for Walking Robots - generates physically feasible motions for legged robots by solving an optimization problem. A Centroidal model of the dynamics, physical constraints as well as a desired goal position are given to the solver that then generates the motion plan. TOWR generates 5 step monoped hopping, biped walking, or a complete quadruped trotting cycle, while optimizing over the gait and step durations, in less than 100ms.
Star Download



Jan 10, 2018 · v1.0.2

Ifopt is a unified Eigen-based interface to use 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


Oct 22, 2017 · v1.0.4

Xpp is 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

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

Contact:
Github
  Google Scholar
  ResearchGate
  Slides.com
  LinkedIn
  winklera@ethz.ch
  CV (pw protected)