Alexander Winkler

icon indicating a website link alex-winkler.com

icon company @facebook, @ethz-adrl, @leggedrobotics icon location San Francisco icon location Robotics, Reinforcement Learning, Computer Graphics @facebook. Prev. ETH Zurich. Author of towr, ifopt, xpp.

Results 3 issues of Alexander Winkler

Improve / robustify swing-leg motion

8 comment

While a foot is swinging, it is typically represented by two/three polynomials. ![phase_nodes](https://user-images.githubusercontent.com/4179579/43314009-ef876980-9191-11e8-9720-ef6812405066.png) Two types of constraints are active in this phase: #### [terrain_constraint](https://github.com/ethz-adrl/towr/blob/master/towr/include/towr/constraints/terrain_constraint.h) * enforces that the position of...

authors recommendations

Penalize base linear and angular accelerations

8 comment

#### Problem: Currently there is no cost on the 6 splines defining the linear and angular acceleration of the base. There are constraints on the base (range-of-motion, dynamic), but if...

authors recommendations

Problem when installing towr & ifopt manually with pure CMake (no ros)

1 comment

Ubuntu 14.04 IPOPT v. 3.12.8 Both the IFOPT test passes as well as the ifopt_ipopt binary test (However, there is not Output to the tests) In addition, all of the...