QTOS: An Open-Source Quadruped Trajectory Optimization Stack

09/16/2023

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by   Alexy Skoutnev, et al.

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We introduce a new open-source framework, Quadruped Trajectory Optimization Stack (QTOS), which integrates a global planner, local planner, simulator, controller, and robot interface into a single package. QTOS serves as a full-stack interface, simplifying continuous motion planning on an open-source quadruped platform by bridging the gap between middleware and gait planning. It empowers users to effortlessly translate high-level navigation objectives into low-level robot commands. Furthermore, QTOS enhances the stability and adaptability of long-distance gait planning across challenging terrain.