QTOS: An Open-Source Quadruped Trajectory Optimization Stack

TL;DR

QTOS is an open-source framework that streamlines quadruped robot motion planning by integrating planning, simulation, and control, enabling easier navigation and gait adaptation on complex terrains.

Contribution

It introduces a comprehensive open-source stack that unifies global and local planning, simulation, and control for quadruped robots, simplifying the development process.

Findings

Improves stability of gait planning on challenging terrain

Facilitates high-level to low-level command translation

Enhances adaptability of quadruped locomotion

Abstract

We introduce a new open-source framework, Quadruped Trajectory Optimization Stack (QTOS), which integrates a global planner, local planner, simulator, controller, and robot interface into a single package. QTOS serves as a full-stack interface, simplifying continuous motion planning on an open-source quadruped platform by bridging the gap between middleware and gait planning. It empowers users to effortlessly translate high-level navigation objectives into low-level robot commands. Furthermore, QTOS enhances the stability and adaptability of long-distance gait planning across challenging terrain.