A Motion-Planning Framework for Dynamic Monopedal Locomotion on Deformable Terrain
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I delivered an online oral presentation on research into planning period-one hopping gaits on deformable (i.e., yielding) terrain, using resistive force theory to model the physics of planar foot-ground interaction and using direct collocation trajectory optimization to generate feasible gaits. You can watch a video of this presentation on YouTube. This work taught me about the potential and limitations of trajectory optimization. I am using it as a starting point for some of the methods going into another journal paper on planning and control for dynamic locomotion on complex terrain via reduced-order/simplified models, currently in preparation.