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.
An Erratum for this chapter can be found at http://dx.doi.org/978-3-642-36279-8_38
An erratum to this chapter can be found at http://dx.doi.org/10.1007/978-3-642-36279-8_38
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Posa, M., Tedrake, R. (2013). Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact. In: Frazzoli, E., Lozano-Perez, T., Roy, N., Rus, D. (eds) Algorithmic Foundations of Robotics X. Springer Tracts in Advanced Robotics, vol 86. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36279-8_32
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DOI: https://doi.org/10.1007/978-3-642-36279-8_32
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