Fast dynamic optimization of robot paths under actuator limits and frictional contact

Research output: Contribution to journalConference articlepeer-review

Abstract

This paper presents an algorithm for minimizing the execution time of a geometric robot path while satisfying dynamic force and torque constraints. The formulation is numerically stable, using a convex optimization that is guaranteed to converge to a unique optimum, and it is also scalable due to the use of a fast feasible set precomputation step that greatly reduces dimensionality of the optimization problem. The algorithm handles frictional contact constraints with arbitrary numbers of contact points as well as torque, acceleration, and velocity limits. Results are demonstrated in simulation on locomotion problems on the Hubo-II+ and ATLAS humanoid robots, demonstrating that the algorithm can optimize trajectories for robots with dozens of degrees of freedom and dozens of contact points in a few seconds.

Original languageEnglish (US)
Article number6907290
Pages (from-to)2990-2996
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
StatePublished - Sep 22 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Fast dynamic optimization of robot paths under actuator limits and frictional contact'. Together they form a unique fingerprint.

Cite this