2023/09/16 by Alexy Skoutnev, Andrew Cinar, Skoutnev, Alexy +5
Computer Science · Engineering · #FOS: Computer and information sciences #Robotic Locomotion and Control #Robotic Path Planning Algorithms #Robotics (cs.RO) #Software Testing and Debugging Techniques
paper · pdf · doi:10.48550/arxiv.2309.09058
openalex publication_date 2023/09/16 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We introduce a new open-source framework, Quadruped Trajectory Optimization Stack (QTOS), which integrates a global planner, local planner, simulator, controller, and robot interface into a single package. QTOS serves as a full-stack interface, simplifying continuous motion planning on an open-source quadruped platform by bridging the gap between middleware and gait planning. It empowers users to effortlessly translate high-level navigation objectives into low-level robot commands. Furthermore, QTOS enhances the stability and adaptability of long-distance gait planning across challenging terrain.