Trajectory Optimization Formulation with Smooth Analytical Derivatives for Track-leg and Wheel-leg Ground Robots.
Adwait ManeDylan SwartJason WhiteChristian HubickiPublished in: ICRA (2022)
Keyphrases
- humanoid robot
- quadruped robot
- walking robot
- optimization procedure
- quadratic programming
- inverse dynamics
- rough terrain
- mobile robot
- biped robot
- optimization algorithm
- higher order
- inverted pendulum
- disturbance rejection
- multi modal
- collision free
- global optimization
- feedback loop
- cooperative
- optimization method
- lagrange multipliers
- motion planning
- robotic agents
- gait patterns
- optimization problems
- multi robot
- human motion