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We present an online trajectory optimization method and software platform applicable to complex humanoid robots performing challenging tasks such as getting up from an arbitrary pose on the ground and recovering from large disturbances using dexterous acrobatic maneuvers. The resulting behaviors, illustrated in the attached video, are computed only 7 × slower than real time, on a standard PC. The video also shows results on the acrobot problem, planar swimming and one-legged hopping. These simpler problems can already be solved in real time, without pre-computing anything.
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Tassa et al. (Mon,) studied this question.
www.synapsesocial.com/papers/69d74b908e958094d1b8ab20 — DOI: https://doi.org/10.1109/iros.2012.6386025
Yuval Tassa
Tom Erez
Emanuel Todorov
University of Washington
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