Last updated: Aug, 2023.

Talk at JuliaCon 2023

I gave a talk at JuliaCon 2023 about how we can use Julia to optimise trajectories for legged robots.

Paper accepted to ICRA 2021

“Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization” has been accepted to the 2021 IEEE International Conference on Robotics and Automation (ICRA), in Xi’an, China.

The preprint of the manuscript is available here and on arXiv .

You can watch my presentation of the paper in the video below.