Waste Not, Want Not: Lessons in Rapid Quadrupedal Gait Termination from Thousands of Suboptimal Solutions
Stacey Shield,Amir Patel,Stacey Shield,Amir Patel
Elaborate trajectory optimization models with many degrees of freedom can be a useful locomotion-planning tool, as they provide rich solutions that take advantage of the robot's specific morphology. They are, however, prone to falling into local minima. Depending on the seed that initializes the solver, the trajectories themselves and the extent to which they minimize the cost function can vary wi...
