Momentum-aware trajectory optimisation using full-centroidal dynamics and implicit inverse kinematics
The current state-of-the-art gradient-based optimisation frameworks are able to produce impressive dynamic manoeuvres such as linear and rotational jumps. However, these methods, which optimise over the full rigid-body dynamics of the robot, often require precise foothold locations apriori, while re...
| Hoofdauteurs: | , , , |
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| Formaat: | Conference item |
| Taal: | English |
| Gepubliceerd in: |
IEEE
2024
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