LEAP: Gradient Flow Augmented Lagrangian Trajectory Optimization for Contact Constrained Robots
LEAP solves complex motion planning for legged and manipulating robots by formulating it as a large, non-convex optimal control problem with friction constraints. It uses a primal-dual gradient flow of an augmented Lagrangian method instead of standard solvers. This approach creates a robust numerical scheme that handles initialization challenges and infeasibility, achieving fast solutions and high tracking accuracy across various robot platforms.