For legged robots to perform agile, highly dynamic and contact-rich motions, whole-body trajectories computation of under-actuated complex systems subject to non-linear dynamics is required. In this work, we present hands-on applications of Horizon, a novel open-source framework for trajectory optimization tailored to robotic systems, that provides a collection of tools to simplify dynamic motion generation. Horizon was tested on a broad range of behaviours involving several robotic platforms: we introduce its building blocks and describe the complete procedure to generate three complex motions using its intuitive and straightforward API.
@article{arxiv.2206.08587,
title = {Prototyping fast and agile motions for legged robots with Horizon},
author = {Francesco Ruscelli and Arturo Laurenzi and Nikos G. Tsagarakis and Enrico Mingo Hoffman},
journal= {arXiv preprint arXiv:2206.08587},
year = {2022}
}