Quadruped Backflip

Inspired by Boston Dynamics' Atlas performing parkour, I decided to explore contact-implicit trajectory optimization for generating similarly dynamic behaviors. However, unlike Boston Dynamics' use of simplifed dynamics and full kinematics, I model my planar quadruped using first principles (i.e., Lagrangian mechanics) and consider full dynamics which enables the optimizer to automatically generate agile motions. Additionally, the contact sequence and forces are automatically generated.

My Julia implementation is available here.