Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
Paarth Shah,Avadesh Meduri,Wolfgang Merkt,Majid Khadiv,Ioannis Havoutis,Ludovic Righetti,Paarth Shah,Avadesh Meduri,Wolfgang Merkt,Majid Khadiv,Ioannis Havoutis,Ludovic Righetti
In this paper we explore the use of block coordinate descent (BCD) to optimize the centroidal momentum dynamics for dynamically consistent multi-contact behaviors. The centroidal dynamics have recently received a large amount of attention in order to create physically realizable motions for robots with hands and feet while being computationally more tractable than full rigid body dynamics models. ...
