1. Prototyping fast and agile motions for legged robots with Horizon
- Author
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Ruscelli, Francesco, Laurenzi, Arturo, Tsagarakis, Nikos G., and Hoffman, Enrico Mingo
- Subjects
Computer Science::Robotics ,FOS: Computer and information sciences ,Computer Science - Robotics ,Robotics (cs.RO) - Abstract
For legged robots to perform agile, highly dynamic and contact-rich motions, whole-body trajectories computation of under-actuated complex systems subject to non-linear dynamics is required. In this work, we present hands-on applications of Horizon, a novel open-source framework for trajectory optimization tailored to robotic systems, that provides a collection of tools to simplify dynamic motion generation. Horizon was tested on a broad range of behaviours involving several robotic platforms: we introduce its building blocks and describe the complete procedure to generate three complex motions using its intuitive and straightforward API., Comment: 4 pages, 5 figures, workshop paper: 6th Workshop on Legged Robots
- Published
- 2022
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