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Computer Science > Robotics

arXiv:2206.08587 (cs)
[Submitted on 17 Jun 2022]

Title:Prototyping fast and agile motions for legged robots with Horizon

Authors:Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
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Abstract:For legged robots to perform agile, highly dynamic and contact-rich motions, whole-body trajectories computation of under-actuated complex systems subject to non-linear dynamics is required. In this work, we present hands-on applications of Horizon, a novel open-source framework for trajectory optimization tailored to robotic systems, that provides a collection of tools to simplify dynamic motion generation. Horizon was tested on a broad range of behaviours involving several robotic platforms: we introduce its building blocks and describe the complete procedure to generate three complex motions using its intuitive and straightforward API.
Comments: 4 pages, 5 figures, workshop paper: 6th Workshop on Legged Robots
Subjects: Robotics (cs.RO)
Cite as: arXiv:2206.08587 [cs.RO]
  (or arXiv:2206.08587v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2206.08587

Submission history

From: Francesco Ruscelli [view email]
[v1] Fri, 17 Jun 2022 07:13:23 UTC (2,466 KB)
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