Gait and Trajectory Optimization through Phase-based End-Effector Parameterization

Paper, entire open-source code to generate these motions (TOWR, IFOPT) and visualize (XPP), slides and more:
www.awinkler.me
Publication:
"Gait and Trajectory Optimization for Legged Systems
through Phase-based End-Effector Parameterization",
Alexander. W. Winkler, Dario Bellicoso, Marco Hutter, Jonas Buchli,
Robotics and Automation Letters (RA-L), 2018.
Tutorial (slides + explanation):
• Tutorial: Gait and Tra...

[@yidongmei4679]

Impressive work!! I wonder if there are some videos about real robots on more complex terrains?

[@gondala]

I am curious if this robot also using "virtual" sensors i.e. it is very useful in real world?

[@jamieh6084]

Was this trained using simulated imperfections in the aforementioned areas (force tracking and sensor data?) If not I would be interesting to see if it copes better in reality.

[@nezv71]

I think "trained" is the wrong word here. The gait trajectory generation is posed as a nonlinear programming problem and solved iteratively. A new problem is solved for every plan. The plans are then tracked by a feedback controller to help with disturbances / imperfections.

[@jamieh6084]

Thank you for clearing that up for me and explaining the iterative nature. I was thinking more along the neural network path, so I thought it was being "trained". Very interesting

[@dhayaaraissankhudher5743]

Very impressive. What is the simulator?

[@alexanderwinkler6821]

The first clips are visualization using ros-rviz and wiki.ros.org/xpp, the simulations are done in Gazebo.

[@dhayaaraissankhudher5743]

Many thanks indeed!