Non-Linear Trajectory Optimization For Large Step-ups

Publication link for Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas: This video presents a non-linear trajectory optimization method for generating step-ups motions. We adopt a simplified model of the centroidal dynamics to generate feasible Center of Mass trajectories. The activation and deactivation of contacts at both feet are considered explicitly. A particular choice of cost function allows reducing the torques required