Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization

We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat terrain, without any additional modules. Our phase-based parameterization of feet mo...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 3; no. 3; pp. 1560 - 1567
Main Authors:	Winkler, Alexander W., Bellicoso, C. Dario, Hutter, Marco, Buchli, Jonas
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.07.2018 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Computer simulation Continuity (mathematics) Dynamics Foot Force Gait humanoid and bipedal locomotion Legged locomotion Legged robots Locomotion Morphology motion and path planning Nonlinear programming optimization and optimal control Parameterization Terrain Trajectory optimization
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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