Скачать с ютуб Optimization-based Control of Legged Robot - Lesson 3 (2023 edition) в хорошем качестве

Optimization-based Control of Legged Robot - Lesson 3 (2023 edition)

The course provides an overview of state-of-the-art techniques for the dynamic control of robotic systems, with a specific focus on legged robots (bipeds and quadrupeds). The course covers both theory and implementation, relying on the Python language and some existing libraries for robot visualization, multi-body dynamic computation, and trajectory optimization. This lesson covers the following topics: Implementation of TSID exploiting an existing C++ library with Python bindings Linear Inverted Pendulum Model (LIPM) Center of Mass Trajectory Generation with LIPM Implementation of CoM trajectory generation in Python using Casadi