Optimization And Stabilization Of Trajectories For Constrained Dynamical Systems
ICRA(2016)
摘要
Contact constraints, such as those between a foot and the ground or a hand and an object, are inherent in many robotic tasks. These constraints define a manifold of feasible states; while well understood mathematically, they pose numerical challenges to many algorithms for planning and controlling whole-body dynamic motions. In this paper, we present an approach to the synthesis and stabilization of complex trajectories for both fully-actuated and under-actuated robots subject to contact constraints. We introduce a trajectory optimization algorithm (DIRCON) that extends the direct collocation method, naturally incorporating manifold constraints to produce a nominal trajectory with third-order integration accuracy-a critical feature for achieving reliable tracking control. We adapt the classical time-varying linear quadratic regulator to produce a local cost-to-go in the manifold tangent plane. Finally, we descend the cost-to-go using a quadratic program that incorporates unilateral friction and torque constraints. This approach is demonstrated on three complex walking and climbing locomotion examples in simulation.
更多查看译文
关键词
constrained dynamical systems,contact constraints,robotic tasks,whole-body dynamic motion planning,whole-body dynamic motion control,complex trajectory synthesis,complex trajectory stabilization,fully-actuated robot,underactuated robot,trajectory optimization algorithm,DIRCON,direct collocation method,third-order integration,tracking control,time-varying linear quadratic regulator,manifold tangent plane,quadratic program,unilateral friction,torque constraints,complex walking locomotion,climbing locomotion
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要