簡略化動力学に基づく脚式移動の非線形軌道最適化のハードウェア実現可能性
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics
単一剛体動力学に基づく軌道最適化に、関節トルク限界と脚の衝突を考慮した2つの実現可能性制約を導入し、不整地でのロバストな動作をHyQロボットで実証した。
著者: Angelo Bratta, Romeo Orsolino, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
分類: cs.RO
原文アブストラクト
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased trajectory optimizer in order to obtain robust motions in challenging terrain. The first one finds an approximate relationship between joint-torque limits and admissible contact forces, without requiring the joint positions. The second one proposes a leg model to prevent leg collision with the environment. Such constraints have been included in a simplified nonlinear nonconvex trajectory optimization problem. We demonstrate the feasibility of the resulting motion plans both in simulation and on the Hydraulically actuated Quadruped (HyQ) robot, considering experiments on an irregular terrain.
