Whole-body Control Trajectory Optimization on 61D rigid-body quadruped navigating around an obstacle
10Solve Time (ms)GPUSLS
Evaluation results
| Method | Links | |
|---|---|---|
| GPUSLSHorizon N=252026.04 | 10 | |
| GPUSLSHorizon N=502026.04 | 13 | |
| GPUSLSHorizon N=752026.04 | 18 | |
| GPUSLSHorizon N=1002026.04 | 21 | |
| GPUSLSHorizon N=1502026.04 | 27 | |
| GPUSLSHorizon N=2002026.04 | 36 | |
| CPU SQP + OSQPHorizon N=252026.04 | 127 | |
| CPU SQP + OSQPHorizon N=502026.04 | 202 | |
| CPU SQP + OSQPHorizon N=752026.04 | 299 | |
| CPU SQP + OSQPHorizon N=1002026.04 | 392 | |
| CPU SQP + OSQPHorizon N=1502026.04 | 602 | |
| CPU SQP + OSQPHorizon N=2002026.04 | 760 |