Use optimizer for planning backflip trajectory

machines-in-motion / kino_dynamic_opt

Kino-dynamic optimization algorithm for multiped robots

BSD 3-Clause "New" or "Revised" License

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Use optimizer for planning backflip trajectory #7

Open jviereck opened 4 years ago

jviereck commented 4 years ago

At this point, it is not possible to optimize a backflip motion with the optimizer on the solo robot.

This issue is about tracking the required modifications / extensions to the optimizer to make this possible.

jviereck commented 4 years ago

Some points include:

better endeffector trajectory planning
have ability to specify desired base angle in the inverse kinematics along the trajectory

majidkhadiv commented 4 years ago

This is true, I will try to implement more delicate (while yet dynamic) motions, e. g. backflip and jumping on the box, using kino-dyn planner. But I think it needs a huge amount of work in terms of landing control and dynamically-consistent end-effector trajectory generation. I have some ideas to do that, but let's see how much time this will take... I will be devoting most of my time to this in the rest of this year and early next year...