A comprehensive thesis on optimal planning for legged locomotion, featuring a real-time NMPC
with mobility-based cost function for rough terrain traversal.
Thesis Overview
This PhD thesis investigates the role of optimal planning in autonomous legged locomotion.
It addresses dynamic modeling choices, trajectory optimization limitations, and proposes a
robust NMPC framework.
- Dynamic Model Validation: Closed-loop validation of Single Rigid Body
Dynamics (SRBD) models.
- LTV Trajectory Optimization: Introduction of a Linear Time-Varying
based TO for legged locomotion.
- Real-Time NMPC: Development of an NMPC with a novel mobility-based
criterion, enhancing adaptation to terrain features.
- Experimental Validation: Validated on the HyQ robot for
omni-directional walking and rough terrain.