Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions in challenging terrain. The first one finds an approximate relationship between joint-torque limits and admissible contact forces, without requiring the joint positions. The second one proposes a leg model to prevent leg collision with the environment. Such constraints have been included in a simplified nonlinear non-convex trajectory optimization problem. We demonstrate the feasibility of the resulting motion plans both in simulation and on the Hydraulically actuated Quadruped (HyQ) robot, considering experiments on an irregular terrain.

On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics / Bratta, A.; Orsolino, R.; Focchi, M.; Barasuol, V.; Muscolo, G. G.; Semini, C.. - (2020), pp. 1417-1423. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation, ICRA 2020 tenutosi a Paris, France nel 31 May - 31 August, 2020) [10.1109/ICRA40945.2020.9196903].

On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics

Focchi M.;
2020-01-01

Abstract

Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions in challenging terrain. The first one finds an approximate relationship between joint-torque limits and admissible contact forces, without requiring the joint positions. The second one proposes a leg model to prevent leg collision with the environment. Such constraints have been included in a simplified nonlinear non-convex trajectory optimization problem. We demonstrate the feasibility of the resulting motion plans both in simulation and on the Hydraulically actuated Quadruped (HyQ) robot, considering experiments on an irregular terrain.
2020
Proceedings - IEEE International Conference on Robotics and Automation
Piscataway, NJ USA
Institute of Electrical and Electronics Engineers Inc.
978-1-7281-7395-5
Bratta, A.; Orsolino, R.; Focchi, M.; Barasuol, V.; Muscolo, G. G.; Semini, C.
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics / Bratta, A.; Orsolino, R.; Focchi, M.; Barasuol, V.; Muscolo, G. G.; Semini, C.. - (2020), pp. 1417-1423. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation, ICRA 2020 tenutosi a Paris, France nel 31 May - 31 August, 2020) [10.1109/ICRA40945.2020.9196903].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/335312
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