Trajectory Optimization (Part 2)

MIT 6.8210: Underactuated Robotics

Spring 2023, Lecture 12

Follow live at https://slides.com/d/b8r1xws/live

(or later at https://slides.com/russtedrake/spring23-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)
  • ...

Lecture 12: Trajectory Optimization and Stabilization

By russtedrake

Lecture 12: Trajectory Optimization and Stabilization

MIT Underactuated Robotics Spring 2023 http://underactuated.csail.mit.edu

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