接触パラメータ化を用いた全身歩行生成：非線形軌道最適化アプローチ
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
ヒューマノイドの重心動力学と全身運動学を直接用い、接触を新たにパラメータ化することで、接触順序を事前に与えずに最適制御問題を解いて歩行軌道を自動生成するプランナを提案した。
著者: Stefano Dafarra, Giulio Romualdi, Giorgio Metta, Daniele Pucci
分類: cs.RO
原文アブストラクト
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction between the robot and the walking surface is modeled explicitly through a novel contact parametrization. The approach is complementarity-free and does not need a predefined contact sequence. By solving an optimal control problem we obtain walking trajectories. In particular, through a set of constraints and dynamic equations, we model the robot in contact with the ground. We describe the objective the robot needs to achieve with a set of tasks. The whole optimal control problem is transcribed into an optimization problem via a Direct Multiple Shooting approach and solved with an off-the-shelf solver. We show that it is possible to achieve walking motions automatically by specifying a minimal set of references, such as a constant desired Center of Mass velocity and a reference point on the ground.
