Trajectory Optimization With Implicit Hard Contacts
We present a contact invariant trajectory optimization formulation to synthesize motions for legged robotic systems. The method is capable of finding optimal trajectories subject to whole-body dynamics with hard contacts. Contact switches are determined automatically. We make use of concepts from bi...
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| Vydáno v: | IEEE robotics and automation letters Ročník 3; číslo 4; s. 3316 - 3323 |
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| Hlavní autoři: | , , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
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Piscataway
IEEE
01.10.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| ISSN: | 2377-3766, 2377-3766 |
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| Abstract | We present a contact invariant trajectory optimization formulation to synthesize motions for legged robotic systems. The method is capable of finding optimal trajectories subject to whole-body dynamics with hard contacts. Contact switches are determined automatically. We make use of concepts from bilevel optimization to find gradients of the system dynamics including the constraint forces and subsequently solve the optimal control problem with the unconstrained iLQR algorithm. Our formulation achieves fast computation times and scales well with the number of contact points. The physical correctness of the produced trajectories is verified through experiments in simulation and on real hardware. We showcase our method on a single-legged hopper for which jumping and forward hopping motions are synthesized with an arbitrary number of contact switches. The jumping trajectories can be tracked on the robot and allow it to safely liftoff and land. |
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| AbstractList | We present a contact invariant trajectory optimization formulation to synthesize motions for legged robotic systems. The method is capable of finding optimal trajectories subject to whole-body dynamics with hard contacts. Contact switches are determined automatically. We make use of concepts from bilevel optimization to find gradients of the system dynamics including the constraint forces and subsequently solve the optimal control problem with the unconstrained iLQR algorithm. Our formulation achieves fast computation times and scales well with the number of contact points. The physical correctness of the produced trajectories is verified through experiments in simulation and on real hardware. We showcase our method on a single-legged hopper for which jumping and forward hopping motions are synthesized with an arbitrary number of contact switches. The jumping trajectories can be tracked on the robot and allow it to safely liftoff and land. |
| Author | Ranftl, Rene Hutter, Marco Carius, Jan Koltun, Vladlen |
| Author_xml | – sequence: 1 givenname: Jan surname: Carius fullname: Carius, Jan email: jcarius@ethz.ch organization: Robotic Syst. Lab., ETH Zurich, Zürich, Switzerland – sequence: 2 givenname: Rene surname: Ranftl fullname: Ranftl, Rene email: rene.ranftl@intel.com organization: Intel Labs., Santa Clara, CA, USA – sequence: 3 givenname: Vladlen surname: Koltun fullname: Koltun, Vladlen email: vkoltun@gmail.com organization: Intel Labs., Santa Clara, CA, USA – sequence: 4 givenname: Marco surname: Hutter fullname: Hutter, Marco email: mahutter@ethz.ch organization: Robotic Syst. Lab., ETH Zurich, Zürich, Switzerland |
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| SubjectTerms | Algorithms Computer simulation Dynamics Force Legged locomotion legged robots Optimal control Optimization optimization and optimal control Switches Synthesis System dynamics Trajectory Trajectory optimization |
| Title | Trajectory Optimization With Implicit Hard Contacts |
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