ヒューマノイドのための高速でロバストな軌道最適化
Rapid and Robust Trajectory Optimization for Humanoids
多くの関節を持つヒューマノイドの軌道設計を、ハイパーパラメータ調整や初期解への依存を減らしつつ高速かつロバストに解く汎用歩容最適化フレームワークを提案し、オープンソースC++コードとして公開した。
著者: Bohao Zhang, Ram Vasudevan
分類: cs.RO
原文アブストラクト
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess which can further complicate the development process. This work introduces a generalized gait optimization framework that directly generates smooth and physically feasible trajectories. The proposed method demonstrates faster and more robust convergence than existing techniques and explicitly incorporates closed-loop kinematic constraints that appear in many modern humanoids. The method is implemented as an open-source C++ codebase which can be found at https://roahmlab.github.io/RAPTOR/.
