Trajectory Optimization and Stabilization

MIT 6.821: Underactuated Robotics

Spring 2024, Lecture 11

Follow live at https://slides.com/d/UZblx2s/live

(or later at https://slides.com/russtedrake/spring24-lec11)

Image credit: Boston Dynamics

Inverse kinematics as an optimization

subject to:

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