Horizon: A Trajectory Optimization Framework for Robotic Systems.

ABSTRACT: This paper presents Horizon, an open-source framework for trajectory optimization tailored to robotic systems that implements a set of tools to simplify the process of dynamic motion generation. Its user-friendly Python-based API allows designing the most complex robot motions using a simple and intuitive syntax. At the same time, the modular structure of Horizon allows for easy customization on many levels, providing several recipes to handle fixed and floating-base systems, contact switching, variable time nodes, multiple transcriptions, integrators and solvers to guarantee flexibility towards diverse tasks. The proposed framework relies on direct simultaneous methods to transcribe the optimal problem into a nonlinear programming problem that can be solved by state-of-the-art solv

SUBMITTER: Ruscelli F 

PROVIDER: S-EPMC9326239 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature