Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain
Overview
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.
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Environment: simulation
“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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- arXiv Robotics — research abstractsSignalContact-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.
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Current attention 3·Peak within the comparable range 10（2026-11-05 06:00 UTC）·Change within the comparable range over 24 hours -49%
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