Direct collocation in IPOPT

| Posted on |

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

Cartpole, optimized with IPOPT (analytical model)
Five-link biped, optimized with IPOPT (analytical model)
Bugs remain in constraints
Five-link biped, optimized with IPOPT (analytical model)
Knee constraint is missing
Five-link biped, optimized with IPOPT (analytical model)
Completed
The stance foot is hinged to the ground, the swing foot does not interact with the ground at all
Pages: 1 2
Scroll to Top