Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations
Oliwier Melon,Mathieu Geisert,David Surovik,Ioannis Havoutis,Maurice Fallon,Oliwier Melon,Mathieu Geisert,David Surovik,Ioannis Havoutis,Maurice Fallon
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a longer time horizon may be necessary when navigating complex terrain. A recently-developed framework, Trajectory Optimization for Walking Robots (TOWR), computes...
