Offline motion libraries and online MPC for advanced mobility skills

Our robot ANYmal combines offline motion libraries and online model predictive control for complex locomotion skills. Journal article published in the International Journal of Robotics Research (IJRR): Learn more about the robot at Video by Marko Bjelonic, Title: Offline motion libraries and online MPC for advanced mobility skills Authors: Marko Bjelonic, Ruben Grandia, Moritz Geilinger, Oliver Harley, Vivian S. Medeiros, Vuk Pajovic, Edo Jelavic, Stelian Coros and Marco Hutter Abstract: We describe an optimization-based framework to perform complex locomotion skills for robots with legs and wheels. The generation of complex motions over a long-time horizon often requires offline computation due to current computing constraints and is mostly accomplished through trajectory optimization (TO). In contrast, model predictive control (MPC) focuses o