Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact
Name
Posa12.pdf
Description
Accepted version
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806.69 KB
Format
Adobe PDF
Checksum (MD5)
3fa44c57d560a3e9d30f213bcd8dc9ed
Author(s)
Posa, Michael
Tedrake, Russ
Date Issued
2013
Journal
Algorithmic Foundations of Robotics X. Springer Tracts in Advanced Robotics
Publisher
Springer Berlin Heidelberg
Citation
Posa, Michael and Russ Tedrake. "Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact." Algorithmic Foundations of Robotics X: Proceedings of the Tenth Workshop on the Algorithmic Foundations of Robotics, edited by Emilio Frazzoli, et al., Springer, 2013: 527-542.
Version
Author's final manuscript
Abstract
Direct methods for trajectory optimization are widely used for planning locally optimal trajectories of robotic systems. Most state-of-the-art techniques treat the discontinuous dynamics of contact as discrete modes and restrict the search for a complete path to a specified sequence through these modes. Here we present a novel
method for trajectory planning through contact that eliminates the requirement for an a priori mode ordering. Motivated by the formulation of multi-contact dynamics as a Linear Complementarity Problem (LCP) for forward simulation, the proposed algorithm leverages Sequential Quadratic Programming (SQP) to naturally resolve
contact constraint forces while simultaneously optimizing a trajectory and satisfying nonlinear complementarity constraints. The method scales well to high dimensional systems with large numbers of possible modes. We demonstrate the approach using three increasingly complex systems: rotating a pinned object with a finger, planar walking with the Spring Flamingo robot, and high speed bipedal running on the FastRunner platform. Keywords: Trajectory Optimization, Sequential Quadratic Programming, Linear Complementarity Problem, Mode Sequence, Constraint Force
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1007/978-3-642-36279-8_32
