Rapid Trajectory Optimization Using C-FROST with Illustration on a\n Cassie-Series Dynamic Walking Biped

2018/07/17 by Ayonga Hereid, Omar Harib, Hereid, Ayonga +7 · 1 citation
Computer Science · Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Modular Robots and Swarm Intelligence #Robotic Locomotion and Control #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.1807.06614

openalex publication_date 2018/07/17 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

One of the big attractions of low-dimensional models for gait design has been\nthe ability to compute solutions rapidly, whereas one of their drawbacks has\nbeen the difficulty in mapping the solutions back to the target robot. This\npaper presents a set of tools for rapidly determining solutions for\n``humanoids'' without removing or lumping degrees of freedom. The main tools\nare (1) C-FROST, an open-source C++ interface for FROST, a direct collocation\noptimization tool; and (2) multi-threading. The results will be illustrated on\na 20-DoF floating-base model for a Cassie-series bipedal robot through\nnumerical calculations and physical experiments.\n

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