Paper ID: 2206.08587

Prototyping fast and agile motions for legged robots with Horizon

Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman

For legged robots to perform agile, highly dynamic and contact-rich motions, whole-body trajectories computation of under-actuated complex systems subject to non-linear dynamics is required. In this work, we present hands-on applications of Horizon, a novel open-source framework for trajectory optimization tailored to robotic systems, that provides a collection of tools to simplify dynamic motion generation. Horizon was tested on a broad range of behaviours involving several robotic platforms: we introduce its building blocks and describe the complete procedure to generate three complex motions using its intuitive and straightforward API.

Submitted: Jun 17, 2022