PHLAME combines pseudospectral collocation with spatial vector algebra to solve the AGHF PDE, generating trajectories for a 44-dimensional robot system in about 5 seconds.
Generating continuous motion and force plans in real-time for legged mobile manipulation,
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Bring the Heat: Rapid Trajectory Optimization with Pseudospectral Techniques and the Affine Geometric Heat Flow Equation
PHLAME combines pseudospectral collocation with spatial vector algebra to solve the AGHF PDE, generating trajectories for a 44-dimensional robot system in about 5 seconds.