ResearchBenchmarksKinodynamic Planning on 13-link Quadruped Planning ProblemKinodynamic Planning on 13-link Quadruped Planning ProblemFollow0Violation RateCMC-Opt-0.522.996.510.01May 20, 2026Evaluation resultsMethodMethodLinksViolation RateCostCMC-OptDimension=2,260, Time(...Dimension=2,260, Time(s)=6.3e+022026.050709.78SQPDimension=32,194, Time...Dimension=32,194, Time(s)=8.4e+012026.050.11,300,000CM-OptDimension=2,260, Time(...Dimension=2,260, Time(s)=8.1e+012026.050.42700,000AugLDimension=32,194, Time...Dimension=32,194, Time(s)=5.9e+012026.057.731,000PenaltyDimension=32,194, Time...Dimension=32,194, Time(s)=1.2e+022026.0513270,000