重心ダイナミクスの逐次凸近似による効率的な多点接触パターン生成
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
重心ダイナミクスを凸緩和し、二次錐計画の反復求解で接触力・タイミング・接触順序を最適化する高速な多点接触動作生成手法を提案し、四足歩行ロボット実機で検証した。
著者: Brahayam Ponton, Majid Khadiv, Avadesh Meduri, Ludovic Righetti
分類: cs.RO
原文アブストラクト
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic optimization problems. Based on this approach, we propose a general convex relaxation of the centroidal dynamics leading to two computationally efficient algorithms based on iterative resolutions of second order cone programs. They optimize centroidal trajectories, contact forces and, importantly, the timing of the motions. We include the approach in a kino-dynamic optimization method to generate full-body movements. Finally, the approach is embedded in a mixed-integer solver to further find dynamically consistent contact sequences. Extensive numerical experiments demonstrate the computational efficiency of the approach, suggesting that it could be used in a fast receding horizon control loop. Executions of the planned motions on simulated humanoids and quadrupeds and on a real quadruped robot further show the quality of the optimized motions.
