Comments (2)
Thank you very much for your reply. I understood it.
from towr.
Yes, the phase durations are initialized arbitrarily, usually with some defined gait. These durations, however, are optimization variables inside the NLP, so IPOPT is constantly changing those values in each iteration, which in turn affects the shape of the endeffector polynomials x(t). The image below might make this clearer, where deltaT are those duration variables (additionally, the node position and velocity are optimized as well and also affect the shape).
from towr.
Related Issues (20)
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from towr.