Minimum Jerk Waypoint Planner

According with (Flash and Hogan, 1985), human beings seem to plan joint trajectories by minimizing the integral of Jerk squared over a trajectory.

One of the benefits of Minimum Jerk trajectories is that it generates smooth trajectories up to acceleration.

Algorithm:

• Define m waypoints at times t0, t1, ... tm.
• Divide the trajectory in m pieces of polynomials:

• Write the optimization problem:

• This problem can be written in a quadratic programming form, having analytic solution if there are no inequality constraints.
  
  

GUI - Qual2

The following GUI was created using Matlab. It can command Valkyrie throughout Qual2:

ihmc Qual2 run:

Objective:

• Walt towards the door;
• Push the button;
• Walk through the door.