多面体射影を用いた外乱に頑健な動的軌道の最適化
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
外乱力や不確かなペイロードに対するロバスト性を考慮し、ロボットの運動学構造を活かして非線形計画問題を解きやすい形に変換することで、頑健な動的軌道を生成する手法を提案した。脚式ロボットにマニピュレータを搭載した機体で有効性を示した。
著者: Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar
分類: cs.RO
原文アブストラクト
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to converge to highly robust dynamic solutions. We demonstrate the results of our approach using a quadruped robot equipped with a manipulator.
