论文标题
与地平线的腿部机器人的快速和敏捷运动的原型
Prototyping fast and agile motions for legged robots with Horizon
论文作者
论文摘要
为了使腿部机器人执行敏捷，高度动态和接触率丰富的动作，需要对不受线性动力学的分发复合系统的全身轨迹计算。在这项工作中，我们介绍了Horizon的动手应用，这是一种针对机器人系统量身定制的新型开源框架，可提供一系列工具来简化动态运动的生成。 Horizon在涉及多个机器人平台的广泛行为上进行了测试：我们介绍了其构建块，并描述了使用其直观且直接的API生成三个复杂运动的完整过程。
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.
