Concepedia

Whole-body Trajectory Optimization

Whole-Body Trajectory Optimization is a computational framework that generates time-parameterized sequences of whole-body motions by simultaneously optimizing kinematic and dynamic variables across all degrees of freedom in a robotic or biomechanical system to achieve task-level objectives while satisfying physical and environmental constraints.

50

Publications

2.6K

Citations

167

Authors

65

Institutions

Publications per year

2017–2026

28

Parents

Publications

50

Whole-body motion planning with centroidal dynamics and full kinematics

Hongkai Dai, Andrés Valenzuela, Russ Tedrake · 2014 · 418 citations · Full text

, , +17

Optimization‐based Full Body Control for the DARPA Robotics Challenge

Siyuan Feng, Eric Whitman, X Xinjilefu et al. · Journal of Field Robotics · 2015 · 229 citations

, , +17

Whole-body model-predictive control applied to the HRP-2 humanoid

Jonas Koenemann, Andrea Del Prete, Yuval Tassa et al. · 2015 · 229 citations

, , +15

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

, , +17

Trajectory Optimization for Full-Body Movements with Complex Contacts

Mazen Al Borno, Martin de Lasa, Aaron Hertzmann · IEEE Transactions on Visualization and Computer Graphics · 2013 · 115 citations

, , +17

1–5 of 50

Authors

167

  1. MH
    Marco Hutter

    ETH Zurich, Switzerland

    4 publications · 214 citations

    4

    h-index

  2. OS
    Olivier Stasse

    Centre National de la Recherche Scientifique, France

    3 publications · 277 citations

    3

    h-index

  3. EJ
    Edo Jelavić

    ETH Zurich, Switzerland

    3 publications · 145 citations

    3

    h-index

  4. SK
    Shivesh Kumar

    German Research Centre for Artificial Intelligence, Germany

    2 publications · 42 citations

    2

    h-index

  5. EW
    Eric Whitman

    Carnegie Mellon University, United States

    2 publications · 261 citations

    2

    h-index

1–5 of 167

Institutions

65

  1. ETH Zurich

    Zurich, Switzerland

    6 h-index

    20 publications

    1.3K citations

  2. Georgia Institute of Technology

    Atlanta, United States

    4 h-index

    11 publications

    279 citations

  3. Carnegie Mellon University

    Pittsburgh, United States

    4 h-index

    10 publications

    1.1K citations

  4. Italian Institute of Technology

    Genoa, Italy

    3 h-index

    13 publications

    346 citations

  5. Centre National de la Recherche Scientifique

    Paris, France

    3 h-index

    7 publications

    988 citations

  6. Laboratoire d'Analyse et d'Architecture des Systèmes

    Toulouse, France

    3 h-index

    7 publications

    988 citations

  7. German Research Centre for Artificial Intelligence

    Kaiserslautern, Germany

    2 h-index

    11 publications

    234 citations

  8. University of Genoa

    Genoa, Italy

    2 h-index

    4 publications

    86 citations

1–8 of 65

Venues

  1. IEEE Robotics and Automation Letters

    9 publications · 545 citations

    9

    h-index

  2. Mechanism and Machine Theory

    2 publications · 74 citations

    2

    h-index

  3. 2

    h-index

  4. Multibody System Dynamics

    1 publications · 28 citations

    1

    h-index

  5. 2022 International Conference on Robotics and Automation (ICRA)

    Conference · 1 publications · 18 citations

    1

    h-index

1–5