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  • Copy of 6 Code Design Principles

    to improve object oriented code architecture and high-level structure.

    Jul 24, 2020 875 1

  • "Facebook Presentation: Optimization-based motion planning for legged systems"

    Presentation for Facebook Interview

    Jan 12, 2020 953 1

  • 6 Code Design Principles

    to improve object oriented code architecture and high-level structure.

    Jun 05, 2018 1,602 1

  • Gait and Trajectory Optimization for Legged Systems

    Paper: https://ieeexplore.ieee.org/document/8283570/ Recorded talk: https://youtu.be/KhWuLvb934g

    May 17, 2018 7,063 23

  • PhD Defense 2018: "Optimization-based motion planning for legged robots"

    Pdf: https://www.research-collection.ethz.ch/handle/20.500.11850/272432

    May 02, 2018 3,192 7

  • Centroidal Dynamics Model Comparison

    PDF: https://www.research-collection.ethz.ch/handle/20.500.11850/272432

    Apr 17, 2018 1,646 2

  • ICRA 2017

    Paper: https://ieeexplore.ieee.org/document/7989624/

    May 23, 2017 3,598 0

  • RA-L 2017: "Vertex-based ZMP constraints"

    Paper: https://ieeexplore.ieee.org/document/7970144/

    May 22, 2017 4,070 1