Robert

My assignment is finished and my final report can be found here:https://robert-roos.nl/wp-content/uploads/MSc-Report-Robert-Roos.pdf

The videos posted so far have been only the trajectory generation, i.e. the feedforward signal. In the videos below the trajectories were applied in a realistic simulation. The results are not good. Where the trajectory generation itself is flexible and robust, the MPC applied in simulation is far from it.

Below are the latest gait optimizations for different models and terrains.

Here are some more videos made with Gambol, showing different robot models and terrain.

Below are some of the optimisations made with the Gambol optimisation framework! All of these optimisations are based on fixed gait phases (i.e. explicit contacts) and include whole-body dynamics and joint torque optimisation. By changing the predefined contact phases different gaits are produced.

A bitbucket project with a few public repositories with the content of my assignment is available here: https://bitbucket.org/mscassignmentrobert/ The two most important tools are: MuJoCoTools: A wrapper for MuJoCo in C++, creating an object-oriented layer around the procedural library.Gambol: The MPC locomotion framework. Heavily inspired on Towr.

The first attempts at optimizations were in IPOPT, with a custom made (and very basic) collocation platform.