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 […]
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 […]
Numerical methods for trajectory optimization have become increasingly popular for analyzing the motion of bipedal spring-mass walkers, whose complex nonlinear dynamics make analytical solutions often infeasible. When I began looking into trajectory […]