Gambol Videos

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.

Hopper (monoped) in 2D
Biped in 2D

By changing the predefined contact phases different gaits are produced.

Biped in 3D

The progression in the optimisation
The last video shows the converged solution

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