  One of the big attractions of low-dimensional models for gait design has been
the ability to compute solutions rapidly, whereas one of their drawbacks has
been the difficulty in mapping the solutions back to the target robot. This
paper presents a set of tools for rapidly determining solutions for
``humanoids'' without removing or lumping degrees of freedom. The main tools
are (1) C-FROST, an open-source C++ interface for FROST, a direct collocation
optimization tool; and (2) multi-threading. The results will be illustrated on
a 20-DoF floating-base model for a Cassie-series bipedal robot through
numerical calculations and physical experiments.
