Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain
Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain
This letter presents a trajectory planner for humanoid robots to perform dynamic motions on complex, parameterizable terrains using a contact-implicit whole-body optimization framework.
The authors present a trajectory planning framework for humanoid robots capable of dynamic locomotion on uneven, parameterizable terrains using contact-implicit whole-body optimization; preliminary feasibility is demonstrated in simulation and on the ErgoCub robot.
Source: arXiv Robotics — research abstracts · Read original article ↗
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dynamic trajectory generation by embedding high-level requirements in the cost function and the initial guess. Preliminary feasibility tests were conducted over non-coplanar terrains, both in simulation and on the real robot ErgoCub.
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Source：arXiv Robotics — research abstracts · arxiv.org