OCS2 Manual  v1.0.0
OCS2 Documentation

Farbod Farshidian, Edo Jelavic, Asutosh Satapathy, Markus Giftthaler, and Jonas Buchli. Real-time motion planning of legged robots: A model predictive control approach. In IEEE-RAS International Conference on Humanoid Robotics (Humanoids), 2017.


Farbod Farshidian, Maryam Kamgarpour, Diego Pardo, and Jonas Buchli. Sequential linear quadratic optimal control for nonlinear switched systems. In International Federation of Automatic Control (IFAC), 2017.


Farbod Farshidian, Michael Neunert, Alexander W Winkler, Gonzalo Rey, and Jonas Buchli. An efficient optimal planning and control framework for quadrupedal locomotion. In IEEE International Conference on Robotics and Automation (ICRA), 2017.


Martin Jaggi. Revisiting frank-wolfe: Projection-free sparse convex optimization. In ICML, pages 427–435, 2013.