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6.8210 Underactuated Robotics Final Project In which we make a Video for our IEEE Robotics and Automation Letters (RA-L) 2025 paper: "Contact-Implicit Whole-Body Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the ... Learning Movement Primitives from Optimal and Dynamically Feasible Trajectories for Humanoid Walking Multi-task prioritized controllers generate complex behaviors for Full paper and additional information available at Publication: "
Okay and you can imagine now that writing a optimization problem if i wanted to do The main idea of this work is to use data from full-body simulation of ICRA 2014 Predicting Initialization Effectiveness for Paper, video, open-source code, slides and more: Intro: 00:29 - Why Legged Robots? 01:15 - Context of ...
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MIT Humanoid Kong Trajectory Optimization
Trajectory Optimization for a Running Humanoid
Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion
Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped Robots
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Last Updated: May 26, 2026
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