Optimal quadruped gait transitions
Final project for MEAM 517 - Control And Optimization With Applications In Robotics, Fall 2022.
Members: Chandravaran Kunjeti, Jason Xie
We are interested in the problem of transitioning between two different gaits for a quadruped robot. Using an existing convex MPC method, we extend it to handle gait transitions by running multiple MPCs covering potential next gait states.
source gait_trans/drakeenv/bin/activate
python main.py