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Last Updated: September 26, 2026
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A quadrupedal robot balances itself while entering different contact states with the environment. This video is an introduction to Presentation for IROS 2023 paper: Michael R. Turski, Joseph Norby, and Aaron M. Johnson. "Staged Contact IROS 2019 Common formulations to consider collision avoidance in Preprint: arxiv.org/abs/2103.00190 Code: github.com/ZJU-FAST-Lab/GCOPTER Extra experimental validations of ... Paper, entire open-source code to generate these motions (TOWR, IFOPT) and visualize (XPP), slides and more: ... Comparing a trajectory generated with kinematic motion planning with one generated by full kinodynamic
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