Paper, video, open-source code, slides and more: http://www.awinkler.me/ Intro: 00:29 - Why Legged Robots? 01:15 - Context of Robot Motion Planning 05:09 - Integrated Motion Planning Main: 09:15 - Optimization Variables (Base, Feet, Forces) 09:54 - Dynamic Constraint (Single Rigid Body Dynamics) 11:41 - Kinematic Constraint (Range-of-Motion Box) 13:05 - Gait Optimization without Integer Programming 16:37 - Phase-based End-Effector Parameterization 19:56 - Terrain Constraints Results: 32:01 - Video of generated Motions (https://www.youtube.com/watch?v=0jE46GqzxMM) 26:14 - Summary 27:57 - Open-source Software (https://github.com/awinkler) Publication: "Gait and Trajectory Optimization for Legged Systems through Phase-based End-Effector Parameterization", Alexander. W. Winkler, Dario Bellicoso, Marco Hutter, Jonas Buchli, Robotics and Automation Letters (RA-L), 2018. ---------------------------------------------------------------------------------------------------- This research has been funded by the Swiss National Center of Competence in Research Robotics (NCCR Robotics) and is also part of ANYmal Research, a community to advance legged robotics. Icons from: https://www.behance.net/gallery/22478593/ICONS-Pack-2