TY - GEN
T1 - Fast dynamic optimization of robot paths under actuator limits and frictional contact
AU - Hauser, Kris
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84917684460&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84917684460&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907290
DO - 10.1109/ICRA.2014.6907290
M3 - Conference contribution
AN - SCOPUS:84917684460
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2990
EP - 2996
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -