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

\min_q | q-q_{desired}|

subject to:

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