2020/11/11 by Mandy Xie, Xie, Mandy, Alejandro Escontrela +3 · 2 citations
Computer Science · Engineering · #FOS: Computer and information sciences #Model-Driven Software Engineering Techniques #Robotic Locomotion and Control #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2011.06194
openalex publication_date 2020/11/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynamics and contacts. A factor graph representation of dynamics problems provides an insightful visualization of their mathematical structure and can be used in conjunction with sparse nonlinear optimizers to solve challenging, high-dimensional optimization problems in robotics. We can easily formulate kinodynamic motion planning as a trajectory optimization problem with factor graphs. We demonstrate the flexibility and descriptive power of dynamics factor graphs by applying them to control various dynamical systems, ranging from a simple cart pole to a 12-DoF quadrupedal robot.