On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics
Angelo Bratta,Romeo Orsolino,Michele Focchi,Victor Barasuol,Giovanni Gerardo Muscolo,Claudio Semini,Angelo Bratta,Romeo Orsolino,Michele Focchi,Victor Barasuol,Giovanni Gerardo Muscolo,Claudio Semini
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions in challenging terrain. The first one finds an approximate relationship between joint-torque limits and ...
