接触力制約下のロボットシステムのための軌道生成
Trajectory Generation for Robotic Systems with Contact Force Constraints
マニピュレータや脚式ロボットなど接触制約のある系に対し、到達可能性解析をサンプリング・凸最適化・非線形計画の部分問題に分割して計算コストを大幅に削減する軌道生成法を提案し、シミュレーションで検証した。
著者: Jaemin Lee, Efstathios Bakolas, Luis Sentis
分類: cs.RO
原文アブストラクト
This paper presents a trajectory generation method for contact-constrained robotic systems such as manipulators and legged robots. Contact-constrained systems are affected by the interaction forces between the robot and the environment. In turn, these forces determine and constrain state reachability of the robot parts or end effectors. Our study subdivides the trajectory generation problem and the supporting reachability analysis into tractable subproblems consisting of a sampling problem, a convex optimization problem, and a nonlinear programming problem. Our method leads to significant reduction of computational cost. The proposed approach is validated using a realistic simulated contact-constrained robotic system.
