Optimization and stabilization of trajectories for constrained dynamical systems

Citation:

M. Posa, S. Kuindersma, and R. Tedrake, “Optimization and stabilization of trajectories for constrained dynamical systems,” in Proceedings of the International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.
dircon.pdf1.29 MB
Optimization and stabilization of trajectories for constrained dynamical systems

Abstract:

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 underactuated 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.

Notes:

ICRA 2016 video

Last updated on 05/27/2016