Rapid and Robust Trajectory Optimization for Humanoids
<|reference_start|>Rapid and Robust Trajectory Optimization for Humanoids: Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess which can further complicate the development process. This work introduces a generalized gait optimization framework that directly generates smooth and physically feasible trajectories. The proposed method demonstrates faster and more robust convergence than existing techniques and explicitly incorporates closed-loop kinematic constraints that appear in many modern humanoids. The method is implemented as an open-source C++ codebase which can be found at https://roahmlab.github.io/RAPTOR/.<|reference_end|>
@article{zhang2024rapid,
    title={Rapid and Robust Trajectory Optimization for Humanoids},
    author={Bohao Zhang, Ram Vasudevan},
    journal={arXiv preprint arXiv:2409.00303},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.00303},
    primaryClass={cs.RO}
}