Rapid Bipedal Gait Optimization in CasADi
Martin Fevre,Patrick M. Wensing,James P. Schmiedeler,Martin Fevre,Patrick M. Wensing,James P. Schmiedeler
This paper shows how CasADi’s state-of-the-art implementation of algorithmic differentiation can be leveraged to formulate and efficiently solve gait optimization problems, enabling rapid gait design for high-dimensional biped robots. Comparative studies on a 7-DOF planar biped show that CasADi generates optimal gaits 4 times faster than another existing advanced optimization package. The framewor...
