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arXiv · 2206.08587

Prototyping fast and agile motions for legged robots with Horizon

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.

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Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman. 2022-06-17. Prototyping fast and agile motions for legged robots with Horizon. https://arxiv.org/abs/2206.08587

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