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Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment.
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Optimization-based locomotion planning, estimation, and control design for the Atlas humanoid robot
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Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization
Y. Tassa, T. Erez, and E. Todorov · 2012
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Powertrain selection for a biologically-inspired miniature quadruped robot
O. Ozcan, A. T. Baisch, D. Ithier, and R. J. Wood · 2014
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A direct method for trajectory optimization of rigid bodies through contact
M. Posa, C. Cantu, and R. Tedrake · 2014
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Model driven design for flexure-based microrobots
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Design and manufacturing rules for maximizing the performance of polycrystalline piezoelectric bending actuators
N. T. Jafferis, M. J. Smith, and R. J. Wood · 2015
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Drake: A planning, control, and analysis toolbox for nonlinear dynamical systems, 2016
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Phase control for a legged microrobot operating at resonance
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An efficient optimal planning and control framework for quadrupedal locomotion
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A high speed motion capture method and performance metrics for studying gaits on an insect-scale legged robot
B. Goldberg, N. Doshi, K. Jayaram, J. S. Koh, and R. J. Wood · 2017
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Trajectory optimization through contacts and automatic gait discovery for quadrupeds
M. Neunert, F. Farshidian, A. W. Winkler, and J. Buchli · 2017
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Variational contact-implicit trajectory optimization
Z. Manchester and S. Kuindersma · 2017
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Fast trajectory optimization for legged robots using vertex-based zmp constraints
A. W. Winkler, F. Farshidian, D. Pardo, M. Neunert, and J. Buchli · 2017
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Concomitant sensing and actuation for piezoelectric microrobots
K. Jayaram, N. T. Jafferis, N. Doshi, B. Goldberg, and R. J. Wood · 2018
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