Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds

@article{Neunert2017TrajectoryOT,
  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},
  year={2017},
  volume={2},
  pages={1502-1509}
}
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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