An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion

This video contains visualization of different gait patterns for the quadrupedal robot, HyQ. It uses an efficient switched system optimal control approach in order to find the optimal switching times as well as the contact forces and the joint velocities for different locomotion tasks such as gap crossing, walking and trotting.
Related publication:
Farbod Farshidian, Michael Neunert, Alexander W. Winkler, Gonzalo Rey, Jonas Buchli (2017). An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion. In IEEE International Conference on Robotics and Automation (ICRA)