Fast interpolation and time-optimization with contact

Research output: Contribution to journalArticlepeer-review


This paper presents a method for generating dynamically feasible, keyframe-interpolating motions for robots undergoing contact, such as in legged locomotion and manipulation. The first stage generates a twice-differentiable interpolating path that obeys kinematic contact constraints up to a user-specified tolerance. The second stage optimizes speeds along the path to minimize time while satisfying dynamic constraints. The method supports velocity, acceleration, and torque constraints, and polyhedral contact friction constraints at an arbitrary number of contact points. The method is numerically stable, and empirical running time is weakly linear in the number of degrees of freedom and polynomial in the time-domain grid resolution. Experiments demonstrate that full-body motions for robots with 100 degrees of freedom and dozens of contact points are calculated in seconds.

Original languageEnglish (US)
Pages (from-to)1231-1250
Number of pages20
JournalInternational Journal of Robotics Research
Issue number9
StatePublished - Aug 11 2014
Externally publishedYes


  • Trajectory optimization
  • algorithms
  • legged locomotion
  • manipulation

ASJC Scopus subject areas

  • Software
  • Modeling and Simulation
  • Mechanical Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence
  • Applied Mathematics


Dive into the research topics of 'Fast interpolation and time-optimization with contact'. Together they form a unique fingerprint.

Cite this