Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition

Description

To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this paper, we present a phase-based trajectory optimization that ensures the feasibility of translational dynamics and friction cone constraints throughout the entire trajectory. Specifically, our approach leverages the superposition properties of linear differentia

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