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.

More information can be found at https://roahmlab.github.io/RAPTOR/.

For citation, please refer to

(Zhang & Vasudevan, 2024)