Trajectory Optimization and Stabilization

MIT 6.832: Underactuated Robotics

Spring 2022, Lecture 12

Follow live at https://slides.com/d/cYLqoSE/live

(or later at https://slides.com/russtedrake/spring22-lec12)

Image credit: Boston Dynamics

Inverse kinematics as an optimization

\min_q | q-q_{desired}|

subject to:

  • rich end-effector constraints
  • joint limits
  • collision avoidance
  • "gaze constraints"
  • "feet stay put"
  • balance (center of mass)
  • ...

Switched to these slides (which I need to port).

Lecture 12: Trajectory Optimization and Stabilization

By russtedrake

Lecture 12: Trajectory Optimization and Stabilization

MIT Underactuated Robotics Spring 2021 http://underactuated.csail.mit.edu

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