Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization

@article{Winkler2018GaitAT,
  title={Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization},
  author={Alexander W. Winkler and Carmine D. Bellicoso and Marco Hutter and Jonas Buchli},
  journal={IEEE Robotics and Automation Letters},
  year={2018},
  volume={3},
  pages={1560-1567}
}
We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat terrain, without any additional modules. Our phase-based parameterization of feet motion and forces allows to optimize over the discrete gait sequence using only continuous decision variables. The system is represented using a simplified centroidal dynamics model that is influenced… CONTINUE READING

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