QTOS: An Open-Source Quadruped Trajectory Optimization Stack

Alexy Skoutnev; Andrew Cinar; Praful Sigdel; Forrest Laine

QTOS: An Open-Source Quadruped Trajectory Optimization Stack

Robotics 2023-09-19 v1

Authors: Alexy Skoutnev , Andrew Cinar , Praful Sigdel , Forrest Laine

Abstract

We introduce a new open-source framework, Quadruped Trajectory Optimization Stack (QTOS), which integrates a global planner, local planner, simulator, controller, and robot interface into a single package. QTOS serves as a full-stack interface, simplifying continuous motion planning on an open-source quadruped platform by bridging the gap between middleware and gait planning. It empowers users to effortlessly translate high-level navigation objectives into low-level robot commands. Furthermore, QTOS enhances the stability and adaptability of long-distance gait planning across challenging terrain.

Keywords

motion planning intelligent transportation system compiler optimization

Cite

@article{arxiv.2309.09058,
  title  = {QTOS: An Open-Source Quadruped Trajectory Optimization Stack},
  author = {Alexy Skoutnev and Andrew Cinar and Praful Sigdel and Forrest Laine},
  journal= {arXiv preprint arXiv:2309.09058},
  year   = {2023}
}

Comments

Submitted to ICRA 2024

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