Hybrid Differential Dynamic Programming for Planar Manipulation Primitives
Name
1911.00175.pdf
Description
Submitted version
Size
5.5 MB
Format
Unknown
Checksum (MD5)
7cccbc80ebcbf01b1c44167e2f2a02c2
Author(s)
Doshi, Neel
Hogan, Francois R.
Rodriguez Garcia, Alberto
Date Issued
2020
Journal
2020 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Doshi, Neel, Hogan, Francois R and Rodriguez, Alberto. 2020. "Hybrid Differential Dynamic Programming for Planar Manipulation Primitives." 2020 IEEE International Conference on Robotics and Automation (ICRA).
Version
Original manuscript
Abstract
We present a hybrid differential dynamic programming (DDP) algorithm for closed-loop execution of manipulation primitives with frictional contact switches. Planning and control of these primitives is challenging as they are hybrid, under-actuated, and stochastic. We address this by developing hybrid DDP both to plan finite horizon trajectories with a few contact switches and to create linear stabilizing controllers. We evaluate the performance and computational cost of our framework in ablations studies for two primitives: planar pushing and planar pivoting. We find that generating pose-to-pose closed-loop trajectories from most configurations requires only a couple (one to two) hybrid switches and can be done in reasonable time (one to five seconds). We further demonstrate that our controller stabilizes these hybrid trajectories on a real pushing system. A video describing our work can be found at https://youtu.be/YGSe4cUfq6Q.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA40945.2020.9197414
