接触を伴う計画のための二段階最適化：セミダイレクト法
Bilevel Optimization for Planning through Contact: A Semidirect Method
接触の発生・解消を含む軌道を効率的に生成するため、二段階最適化を活用したアルゴリズムを提案し、ベンチマークで既存手法を上回る性能と15自由度四足ロボットの周期歩容設計への応用を示した。
著者: Benoit Landry, Joseph Lorenzetti, Zachary Manchester, Marco Pavone
分類: cs.RO
原文アブストラクト
Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been shown to be a viable approach that can be made to support contact dynamics. However, the current state-of-the art methods remain slow and are often difficult to get to converge. In this work, we leverage recent advances in bilevel optimization to design an algorithm capable of efficiently generating trajectories that involve making and breaking contact. We demonstrate our method's efficiency by outperforming an alternative state-of-the-art method on two benchmark problems. We moreover demonstrate the method's ability to design a simple periodic gait for a quadruped with 15 degrees of freedom and four contact points.
