VI_discretized_TO

This repository contains the code for Trajectory Optimization using Variational Integration

to achieve high accuracy aerial maneuvers on legged robots. Examples on other dynamical systems are also provided.

Video: https://www.youtube.com/watch?v=z4HzWtGu9RM

Matlab Toolbox

• Symbolic Math Toolbox
• Simscapte Multibody
• Simulink

Code structure

• Each example includes

  (1) main.m file to run TO

  (2) getStruct.m to get the tree structure of the robot/ system

  (3) animate.m to simulate the optimal solution

• In getStruct.m

  • nx is the number of generalized coordinates present in this model
  • robotStruct contains a series of nodes of 3 types
    • "Joint" type nodes are revolute or prismatic joints that connect nodes
    • "Mass" type nodes are rigidly connected to joints and contain inertial data
    • "Contact" type nodes are massless and rigidly connected to joints and are the defined contact points with the terrain

• Simulink Models consists various simulated dynamical system by Simscape

Note

• Set path: add with subfolder to SimilinkModels to initialize system parameters and functions