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Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics
[article]
2020
arXiv
pre-print
Trajectory optimization is becoming increasingly powerful in addressing motion planning problems of underactuated robotic systems. Numerous prior studies solve such a class of large non-convex optimal control problems in a hierarchical fashion. However, numerical accuracy issues are prone to occur when one uses a full-order model to track reference trajectories generated from a reduced-order model. This study investigates an approach of Alternating Direction Method of Multipliers (ADMM) and
arXiv:2003.08019v1
fatcat:rb72dtdvwrhmle34k4564ix45m