{"ID":2881989,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.11520","arxiv_id":"2508.11520","title":"A Comparative Study of Floating-Base Space Parameterizations for Agile Whole-Body Motion Planning","abstract":"Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the choice of floating-base space parameterization affects performance, especially for agile behaviors involving complex contact dynamics. In this paper, we present a comparative study of different parameterizations for direct transcription-based trajectory optimization of agile motions in legged systems. We systematically evaluate several common choices under identical optimization settings to ensure a fair comparison. Furthermore, we introduce a novel formulation based on the tangent space of SE(3) for representing the robot's floating-base pose, which, to our knowledge, has not received attention from the literature. This approach enables the use of mature off-the-shelf numerical solvers without requiring specialized manifold optimization techniques. We hope that our experiments and analysis will provide meaningful insights for selecting the appropriate floating-based representation for agile whole-body motion generation.","short_abstract":"Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the choice of floating-base space parameterization affects performance, especially for ag...","url_abs":"https://arxiv.org/abs/2508.11520","url_pdf":"https://arxiv.org/pdf/2508.11520v1","authors":"[\"Evangelos Tsiatsianas\",\"Chairi Kiourt\",\"Konstantinos Chatzilygeroudis\"]","published":"2025-08-15T15:00:25Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\",\"math.OC\"]","methods":"[]","has_code":false}