Burdell 2.0 - Whole Body Trajectory Optimization for Humanoid Robot for Ball Throwing

I am interested in the development of humanoid robots that can perform agile and dynamic tasks in unstructured environments.

In this report, I present my work on whole body trajectory optimization for a humanoid robot. I use a simple centroidal dynamics approach coupled with full body kinematics to generate trajectories for walking, jumping, and ball throwing. I was able to successfully replicate the results for walking and jumping motion for the Digit humanoid robot from Agility Robotics using the Drake optimization toolbox. However, the ball throwing tasks failed to converge at the defined constrained optimization problem. I have introduced my approach to attempting optimization for ball throwing motion.

I believe that the work presented in this report is a significant step towards the development of humanoid robots that can perform agile and dynamic tasks in unstructured environments. I am excited to continue my work in this area and to see what the future holds for humanoid robotics.

Report for the same is attached below.

DeepNote for the project can be accessed here: