Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints
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YouTubeRobotic Systems Lab: Legged Robotics at ETH Zürich
Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints
We present a trajectory optimizer for quadrupedal robots with actuated wheels. By solving for angular, vertical, and planar components of the base and feet trajectories in a cascaded fashion and by introducing a novel linear formulation of the zero-moment point (ZMP) balance criterion, we rely on quadratic programming only, thereby eliminating ...
7K viewsMar 28, 2019
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