Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization

We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat terrain, without any additional modules. Our phase-based parameterization of feet mo...

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Published in:	IEEE robotics and automation letters Vol. 3; no. 3; pp. 1560 - 1567
Main Authors:	Winkler, Alexander W., Bellicoso, C. Dario, Hutter, Marco, Buchli, Jonas
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.07.2018 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Computer simulation Continuity (mathematics) Dynamics Foot Force Gait humanoid and bipedal locomotion Legged locomotion Legged robots Locomotion Morphology motion and path planning Nonlinear programming optimization and optimal control Parameterization Terrain Trajectory optimization
ISSN:	2377-3766, 2377-3766
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Abstract	We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat terrain, without any additional modules. Our phase-based parameterization of feet motion and forces allows to optimize over the discrete gait sequence using only continuous decision variables. The system is represented using a simplified centroidal dynamics model that is influenced by the feet's location and forces. We explicitly enforce friction cone constraints, depending on the shape of the terrain. The nonlinear programming problem solver generates highly dynamic motion plans with full flight phases for a variety of legged systems with arbitrary morphologies in an efficient manner. We validate the feasibility of the generated plans in simulation and on the real quadruped robot ANYmal. Additionally, the entire solver software TOWR, which used to generate these motions is made freely available.
AbstractList	We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat terrain, without any additional modules. Our phase-based parameterization of feet motion and forces allows to optimize over the discrete gait sequence using only continuous decision variables. The system is represented using a simplified centroidal dynamics model that is influenced by the feet's location and forces. We explicitly enforce friction cone constraints, depending on the shape of the terrain. The nonlinear programming problem solver generates highly dynamic motion plans with full flight phases for a variety of legged systems with arbitrary morphologies in an efficient manner. We validate the feasibility of the generated plans in simulation and on the real quadruped robot ANYmal. Additionally, the entire solver software TOWR, which used to generate these motions is made freely available.
Author	Bellicoso, C. Dario Hutter, Marco Winkler, Alexander W. Buchli, Jonas
Author_xml	– sequence: 1 givenname: Alexander W. surname: Winkler fullname: Winkler, Alexander W. email: winklera@ethz.ch organization: Agile & Dexterous Robot. Lab., ETH Zurich, Zurich, Switzerland – sequence: 2 givenname: C. Dario surname: Bellicoso fullname: Bellicoso, C. Dario email: bellicoso@mavt.ethz.ch organization: Robot. Syst. Lab., ETH Zurich, Zurich, Switzerland – sequence: 3 givenname: Marco surname: Hutter fullname: Hutter, Marco email: mahutter@ethz.ch organization: Robot. Syst. Lab., ETH Zurich, Zurich, Switzerland – sequence: 4 givenname: Jonas surname: Buchli fullname: Buchli, Jonas email: buchlij@ethz.ch organization: Agile & Dexterous Robot. Lab., ETH Zurich, Zurich, Switzerland
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SubjectTerms	Computer simulation Continuity (mathematics) Dynamics Foot Force Gait humanoid and bipedal locomotion Legged locomotion Legged robots Locomotion Morphology motion and path planning Nonlinear programming optimization and optimal control Parameterization Terrain Trajectory optimization
Title	Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization
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