Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas
Stefano Dafarra,Sylvain Bertrand,Robert J. Griffin,Giorgio Metta,Daniele Pucci,Jerry Pratt,Stefano Dafarra,Sylvain Bertrand,Robert J. Griffin,Giorgio Metta,Daniele Pucci,Jerry Pratt
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear trajectory optimization method for generating step-up motions. We adopt a simplified model of the centroidal dynamics to generate feasible Center of Mass trajectori...
