Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds

  title={Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds},
  author={Michael Neunert and Farbod Farshidian and Alexander W. Winkler and Jonas Buchli},
  journal={IEEE Robotics and Automation Letters},
In this letter, we present a trajectory optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a quadruped robot. In contrast to most previous methods, we do not prespecify contact-switches, -timings, -points or gait patterns, but they are a direct outcome of the optimization. Furthermore, we optimize over the entire dynamics of the robot, which enables the… CONTINUE READING
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RobCoGen: A code generator for efficient kinematics and dynamics of articulated robots, based on domain specific languages

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  • 2016
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