Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

We present a single trajectory optimization formulation for legged locomotion that
automatically determines the gait sequence, step timings, footholds, swing-leg motions, and …

In this letter, we present a whole-body nonlinear model predictive control approach for rigid
body systems subject to contacts. We use a full-dynamic system model which also includes …

Direct collocation methods are powerful tools to solve trajectory optimization problems in
robotics. While their resulting trajectories tend to be dynamically accurate, they may also …

This article presents an offline solution and online approximation to the hybrid control
problem of planar non-prehensile manipulation. Hybrid dynamics and underactuation are …

In this letter, we propose a method to improve the accuracy of trajectory optimization for
dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most …

We present a contact invariant trajectory optimization formulation to synthesize motions for
legged robotic systems. The method is capable of finding optimal trajectories subject to …

We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling,
control, estimation, trajectory optimization and Model Predictive Control. The CT is …

Transferring solutions found by trajectory optimization to robotic hardware remains a
challenging task. When the optimization fully exploits the provided model to perform …