Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition
技术动态
来源：arXiv cs.RO发布时间待核实
arXiv:2510.24069v2 Announce Type: replace Abstract: To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this paper, we present a phase-based trajectory optimization that ensures the feasibility of translational dynamics and friction cone constraints throughout the entire trajectory.