Single Sequential Trajectory Optimization with Centroidal Dynamics ...

This article proposes a single sequential kino-dynamic trajectory optimization method to solve the whole-body motion trajectory for high vertical jumping ...

Biomimetics | Free Full-Text | Notes - MDPI

Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot. Biomimetics 2024, 9, 274 ...

[PDF] Single Sequential Trajectory Optimization with Centroidal ...

Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot ... High vertical jumping motion, ...

Momentum-Aware Trajectory Optimization and Control for Agile ...

Reduced-order models, such as the spring loaded inverted pendulum (SLIP) model, single rigid body model (SRBM), centroidal dynamics model, etc., have been.

Single sequential kino-dynamic trajectory optimization framework

solving the optimization problem, the state values and control values that satisfy the constraints of the centroidal dynamics and whole-body kinematics are ...

[PDF] Whole-body motion planning with centroidal dynamics and full ...

Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot · Engineering, Computer Science.

An Introduction to Trajectory Optimization: How to Do Your Own ...

One of the key features of a direct collocation method is that it represents the system dynamics as a set of constraints, known as collocation constraints. For ...

Whole-body Motion Planning with Centroidal Dynamics and Full ...

use trajectory optimization with full-body dynamics. This ... Finding locally optimal, collision-free trajectories with sequential convex optimization.

Momentum-Aware Trajectory Optimisation using Full-Centroidal ...

Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics ... The goal is to find the optimal sequence ...

Whole-body motion planning with centroidal dynamics and full ...

... one conventionally faces the ... trajectories match those given by the centroidal dynamics. This ensures that the dynamics considered by our optimization ...

Rapid Convex Optimization of Centroidal Dynamics Using Block ...

In this paper, we propose a block coordinate descent. (BCD) approach to solve the centroidal dynamics trajectory optimization problem [13]. The main idea of the ...

Robot platform used in this article. (a) Actual platform. (b)...

(a) Actual platform. (b) CoppeliaSim model. (c) Simplified link model. from publication: Single Sequential Trajectory Optimization with Centroidal Dynamics ...

Centroidal-momentum-based trajectory generation for legged ...

Ding et al. Single leg dynamic motion planning with mixed-integer convex optimization. 2018 IEEE/RSJ International conference on intelligent robots and ...

Centroidal Trajectory Generation and Stabilization Based on ...

Righetti,. “Rapid convex optimization of centroidal dynamics using block coor- ... Morisawa et al., “Sequential trajectory generation for dynamic ...

[PDF] Improved Computation of the Humanoid Centroidal Dynamics ...

Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot · Yaliang LiuXuechao Chen ...

Sequential Trajectory Generation for Dynamic Multi-Contact ...

The proposed framework consists of (a) the derivation of the prospect centroidal dynamics by introducing a force distribution ratio, where it can be represented ...

Whole body motion generation with centroidal dynamics of legged ...

... sequential quadratic programming (SQP) are typically used to solve these optimization ... Trajectory optimization for dynamic aerial motions of legged robots. ( ...

Mr. Yaliang Liu | Author - SciProfiles

... Qi; Chuanku Yi. Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot ...

Rapid and Robust Trajectory Optimization for Humanoids - arXiv

... centroidal dynamics representation of a legged robot when performing trajectory optimization [ ... The robot's dynamics during the single ...

Gait and Trajectory Optimization for Legged Systems Through ...

We present a single trajectory optimization ... The system is represented using a simplified centroidal dynamics model that is influenced by the ...