Paper, video, open-source code, slides and more:
http://www.awinkler.me

Intro:
00:29 - Why Legged Robots?
01:15 - Context of Robot Motion Planning
05:09 - Integrated Motion Planning
Main:
09:15 - Optimization Variables (Base, Feet, Forces)
09:54 - Dynamic Constraint (Single Rigid Body Dynamics)
11:41 - Kinematic Constraint (Range-of-Motion Box)
13:05 - Gait Optimization without Integer Programming
16:37 - Phase-based End-Effector Parameterization
19:56 - Terrain Constraints
Results:
32:01 - Video of generated Motions (   • Gait and Trajectory Optimization thro...  )
26:14 - Summary
27:57 - Open-source Software (https://github.com/awinkler)

Publication:
"Gait and Trajectory Optimization for Legged Systems
through Phase-based End-Effector Parameterization",
Alexander. W. Winkler, Dario Bellicoso, Marco Hutter, Jonas Buchli,
Robotics and Automation Letters (RA-L), 2018.



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This research has been funded by the Swiss National Center of Competence in Research Robotics (NCCR Robotics) and is also part of ANYmal Research, a community to advance legged robotics.

Icons from: https://www.behance.net/gallery/22478...