The content discusses a trajectory optimization framework focusing on agile maneuvers for quadruped robots, specifically the ANYmal C. The framework leverages full-centroidal dynamics and implicit inverse kinematics to optimize foothold locations and contact forces directly, enabling high-acceleration maneuvers with low computational overhead. Real-world experiments demonstrate successful execution of high-acceleration motions like linear and rotational jumps, surpassing hardware limitations. The method requires minimal user references and enhances convergence rates compared to state-of-the-art approaches.
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by Aristotelis ... um arxiv.org 03-19-2024
https://arxiv.org/pdf/2310.06074.pdfTiefere Fragen