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RAPTOR

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RAPid and Robust Trajectory Optimization for Robots

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We present "RAPid and robust Trajectory Optimization toolbox for Robots" (RAPTOR) -- Dynamic locomotion for humanoid robots presents significant analytical and computational challenges due to the extensive number of linkages and degrees of freedom. This complexity results in a vast search space for feasible gaits which translates into a time-consuming process when optimizing over trajectories. In addition, the process often involves numerous hyperparameters and requires a good initial guess or a warm-start strategy, further complicating the development process. Existing methods struggle to integrate the latest hardware designs, such as actuated ankles with closed-loop mechanisms, which offer increased stability, but introduce additional constraints into the dynamics that can be challenging to represent in a computationally tractable fashion. This work introduces a generalized gait optimization framework that directly generates smooth and physically feasible trajectories. The proposed method demonstrates faster and more robust convergence than existing techniques and explicitly incorporates closed-loop constraints. The method is implemented as an open-source C++ codebase that significantly reduces computation times, facilitating dynamic locomotion for full-size humanoids. +

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Paper

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Code and Tutorial

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Authors

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+ 1 Robotics Institute, University of Michigan, Ann Arbor            + 2 Mechanical Engineering, University of Michigan, Ann Arbor            +

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Acknowledgements

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Contact

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We are actively developing the codebase and appreciate any feedback!
+ If you have any questions about the paper, please feel free to contact Bohao Zhang.
+ If you have any questions about the code and would like to report any bugs or problems, please raise a new issue in the Issues page in the RAPTOR repo. We will try to respond to it as soon as possible.
+ If you would like to request any related new features and have suggestions on how to improve the performance of RAPTOR, please raise a new discussion in the Discussions page in the RAPTOR repo. +

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