QTOS: An Open-Source Quadruped Trajectory Optimization Stack

Autor:	Skoutnev, Alexy, Cinar, Andrew, Sigdel, Praful, Laine, Forrest
Rok vydání:	2023
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	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. Comment: Submitted to ICRA 2024
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2309.09058 Zobrazit plný text záznamu View this record from Arxiv