Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
Stefano Dafarra,Giulio Romualdi,Giorgio Metta,Daniele Pucci,Stefano Dafarra,Giulio Romualdi,Giorgio Metta,Daniele Pucci
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction between the robot and the walking surface is modeled explicitly through a novel contact parametrization. The approach is complementarity-free and does not need a predefined contact sequence. By solving an optimal control...
