All decks
  • 6 Code Design Principles

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

  • RA-L 2018 Paper: "Gait and Trajectory Optimization for Legged Robots"

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

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

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

  • Centroidal Dynamics Model Comparison

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

  • ICRA 2017

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

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

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