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).