No abstract

No abstract

No abstract

We propose two feasibility constraints to be included in a Single Rigid Body Dynamics (SRBD)-based trajectory optimizer in order to obtain robust motions in challenging terrain. The former finds an approximate relationship between joint torque limits and admissible contact forces without requiring the joints' configuration. The latter proposes a model of the leg to guarantee the avoidance of the collision with the environment. Such constraints have been included in a nonlinear non-convex optimization problem. We validate the feasibility of the trajectories both in simulation and on the Hydraulically actuated Quadruped (HyQ) robot, including experiments with non flat terrain.