Tag: direct collocation

  • Optimizing Trajectories for the Spring Loaded Inverted Pendulum over Slippery Terrain

    Previously, I’ve written short introductions to numerical trajectory optimization here and here—if you’re unfamiliar with the basics, I recommend you check those out first. This write up expands upon a section of my research paper (which I hope to finish soon) and is meant to be a walkthrough of how to apply numerical trajectory optimization to real-world scenarios. The Problem…

  • Tutorial: Direct Collocation Trajectory Optimization with Matlab

    In the previous tutorial, we focused on single shooting trajectory optimization, which involved time-discretizing the control input and simply integrating the dynamics. The desired end state was then added as a constraint to fmincon. Here, we focus on a different trajectory optimization technique, known as direct collocation. Simultaneous Optimization The core difference between shooting methods…