Repo for studying the effect of morphology on behavior in quadrupeds using optimization. Particularly focused on internal degrees of freedom.
This README is a placeholder for the code and a more indepth description of the algorithms used in "Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization", J. Diego Caporale, Zeyuan Feng, Shane Rozen-Levy, Aja Mia Carter, and Daniel E. Koditschek, ICRA 2023.
To cite this work, please cite the ICRA 2023 publication as follows or with the provided bibtex:
J. D. Caporale, Z. Feng, S. Rozen-Levy, A. M. Carter, and D. E. Koditschek, “Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization,” in 2023 IEEE International Conference on Robotics and Automation (ICRA)
@inproceedings{caporale_twisting_2023, title = {Twisting {Spine} or {Rigid} {Torso}: {Exploring} {Quadrupedal} {Morphology} via {Trajectory} {Optimization}}, booktitle = {2023 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})}, author = {Caporale, J Diego and Feng, Zeyuan and Rozen-Levy, Shane and Carter, Aja Mia and Koditschek, Daniel E}, }