2020/10/02 by Brahayam Ponton, Majid Khadiv, Avadesh Meduri +1
Computer Science · Engineering · #Computation #Convex optimization #Dynamics and Control of Mechanical Systems #Human Motion and Animation #Iterative method #Kinematics #Regular polygon #Relaxation (psychology) #Robot #Robotic Locomotion and Control #Solver #Trajectory #cs.RO
paper · pdf · doi:10.1109/tro.2020.3048125
arxiv created 2020/10/02 · openalex created_date 2020/10/08 · openalex publication_date 2021/02/09 · arxiv updated 2021/02/19 · openalex updated_date 2026/08/05
This article investigates the problem of efficient computation of physically consistent multicontact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic optimization problems. Based on this approach, we propose a general convex relaxation of the centroidal dynamics leading to two computationally efficient algorithms based on iterative resolutions of second-order cone programs. They optimize centroidal trajectories, contact forces, and importantly the timing of the motions. We include the approach in a kinodynamic optimization method to generate full-body movements. Finally, the approach is embedded in a mixed-integer solver to further find dynamically consistent contact sequences. Extensive numerical experiments demonstrate the computational efficiency of the approach, suggesting that it could be used in a fast receding horizon control loop. Executions of the planned motions on simulated humanoids and quadrupeds and on a real quadruped robot further show the quality of the optimized motions.