Single Leg Dynamic Motion Planning with Mixed-Integer Convex Optimization

Yanran Ding, Chuanzheng Li, Hae Won Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a mixed-integer convex programming formulation for dynamic motion planning. Many dynamic constraints such as the actuator torque constraint are nonlinear and non-convex due to the trigonometrical terms from the Jacobian matrix. This often causes the optimization problem to converge to local optima or even infeasible set. In this paper, we convexify the torque constraint by formulating a mixed-integer quadratically-constrained program (MIQCP). More specifically, the workspace is discretized into a union of disjoint polytopes and torque constraint is enforced upon a convex outer approximation of the torque ellipsoid, obtained by solving a semidefinite program (SDP). Bilinear terms are approximated by McCormick envelope convex relaxation. The proposed MIQCP framework could be solved efficiently to global optimum and the generated trajectories could exploit the rich features of the rough terrain without any initial guess from the designer. The demonstrated experiment results prove that this approach is currently capable of planning consecutive jumps that navigates a single-legged robot through challenging terrains.

Original languageEnglish (US)
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7391-7396
Number of pages6
ISBN (Electronic)9781538680940
DOIs
StatePublished - Dec 27 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: Oct 1 2018Oct 5 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Country/TerritorySpain
CityMadrid
Period10/1/1810/5/18

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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