Kuan-Lun Lu

Trajectory Optimization Strategy That Considers Body Tip-Over Stability, Limb Dynamics, and Motion Continuity in Legged Robots

We propose a limb trajectory planning method that considers both body and limb dynamics in robots, particularly suitable for those with non-trivial limb mass. To simplify the complexity and computation cost of using the full-body dynamics of the limbs, a reduced-order model that can simulate the dyn…