A towr-inspired continuous jumping motion optimization for a one-legged robot.
With the direct collocation and the NLP solver fmincon of matlab, the trajectory optimizer can automatically optimize
- position of the footholds
- total motion duration
- swing trajectories of the foot
- contact forces
- motion trajectory of the floating-base
by using the hybrid single rigid body model (SRBM) dynamics and the phase-based end-effector constraints.