Optimization-based Gait Generation

Optimization-Based Gait Generation is a gait generation method that formulates locomotion planning as a mathematical optimization problem to determine optimal joint trajectories and contact forces by minimizing a cost function subject to dynamic and environmental constraints.

Publications

2.9K

Citations

205

Authors

Institutions

Publications per year

2017–2026

Parents

Gait Generation

Publications

3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics

Ayonga Hereid, Eric Cousineau, Christian Hubicki et al. · 2016 · 207 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Modeling and Optimal Control of Human-Like Running

G. Schultz, Katja Mombaur · IEEE/ASME Transactions on Mechatronics · 2009 · 167 citations

Engineering, Mechanical Engineering, Mechatronics Engineering +17

An evolutionary approach to gait learning for four-legged robots

S. Chemova, Manuela Veloso · 2005 · 159 citations

Engineering, Computer Science, Robotics Engineering +17

Optimal gait and form for animal locomotion

Kevin Wampler, Zoran Popović · ACM Transactions on Graphics · 2009 · 148 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds

Michael Neunert, Farbod Farshidian, Alexander Winkler et al. · IEEE Robotics and Automation Letters · 2017 · 134 citations · Full text

Engineering, Computer Science, Robotics Engineering +17

1–5 of 76

Authors

205

AD
Aaron D. Ames
California Institute of Technology, United States
6 publications · 398 citations
6
h-index
AH
Ayonga Hereid
Georgia Institute of Technology, United States
5 publications · 361 citations
5
h-index
DK
Dilip Kumar Pratihar
Indian Institute of Technology Kharagpur, India
4 publications · 131 citations
4
h-index
HP
Hồ Phạm Huy Ánh
Ho Chi Minh City University of Technology, Vietnam
4 publications · 70 citations
4
h-index
TT
Tran Thien Huan
Ho Chi Minh City University of Technology, Vietnam
3 publications · 53 citations
3
h-index

1–5 of 205

Institutions

1–8 of 83

Venues

Robotica
6 publications · 290 citations
6
h-index
Robotics and Autonomous Systems
4 publications · 165 citations
4
h-index
Advanced Robotics
3 publications · 142 citations
3
h-index
International Journal of Advanced Robotic Systems
ARS · 2 publications · 33 citations
2
h-index
IEEE Robotics and Automation Letters
2 publications · 159 citations
2
h-index

1–5