Paper, video, open source code, slides and more:
http://www.awinkler.me

Introduction:
00:29 – Why leg robots?
01:15 – Context of robot motion planning
05:09 – Integrated motion planning
Mainly:
09:15 – Optimization variables (base, feet, forces)
09:54 – Dynamic Constraint (Single Rigid Body Dynamics)
11:41 – Kinematic limitation (range of motion)
13:05 – Loop optimization without integer programming
16:37 – Phase-based parameterization of end effectors
19:56 – Terrain restrictions
Results:
32:01 – Video of generated movements (https://youtu.be/0jE46GqzxMM)
26:14 – Summary
27:57 – Open source software (https://github.com/awinkler)

Publication:
/"Gait and trajectory optimization for leg systems
via phase-based parameterization of the end effector/

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