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CHOMP uses functional gradient techniques to iteratively improve the quality of an initial trajectory, optimizing a functional that trades off between a smoothness and an obstacle avoidance component. CHOMP can be used to locally optimize feasible trajectories, as well as to solve motion planning queries, converging to low-cost trajectories even when initialized with infeasible ones. It uses Hamiltonian Monte Carlo to alleviate the problem of convergence to high-cost local minima (and for probabilistic completeness), and is capable of respecting hard constraints along the trajectory. We present extensive experiments with CHOMP on manipulation and locomotion tasks, using seven-degree-of-freedom manipulators and a rough-terrain quadruped robot.<\/jats:p>","DOI":"10.1177\/0278364913488805","type":"journal-article","created":{"date-parts":[[2013,9,13]],"date-time":"2013-09-13T10:30:09Z","timestamp":1379068209000},"page":"1164-1193","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":619,"title":["CHOMP: Covariant Hamiltonian optimization for motion planning"],"prefix":"10.1177","volume":"32","author":[{"given":"Matt","family":"Zucker","sequence":"first","affiliation":[{"name":"Department of Engineering, Swarthmore College, Swarthmore, PA, USA"}]},{"given":"Nathan","family":"Ratliff","sequence":"additional","affiliation":[{"name":"Google, Inc., Pittsburgh, PA, USA"}]},{"given":"Anca D.","family":"Dragan","sequence":"additional","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}]},{"given":"Mihail","family":"Pivtoraiko","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Pittsburgh, PA, USA"}]},{"given":"Matthew","family":"Klingensmith","sequence":"additional","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}]},{"given":"Christopher M.","family":"Dellin","sequence":"additional","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}]},{"given":"J. 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