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Direct Trajectory Optimization of Rigid Body Dynamical Systems Through Contact
| Citations: | 22 - 5 self |
BibTeX
@MISC{Posa_directtrajectory,
author = {Michael Posa and Russ Tedrake},
title = {Direct Trajectory Optimization of Rigid Body Dynamical Systems Through Contact},
year = {}
}
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Abstract
Abstract Direct methods for trajectory optimization are widely used for planning locally optimal trajectories of robotic systems. Most state-of-the-art techniques treat the discontinuous dynamics of contact as discrete modes and restrict the search for a complete path to a specified sequence through these modes. Here we present a novel method for trajectory planning through contact that eliminates the requirement for an a priori mode ordering. Motivated by the formulation of multi-contact dynamics as a Linear Complementarity Problem (LCP) for forward simulation, the proposed algorithm leverages Sequential Quadratic Programming (SQP) to naturally resolve contact constraint forces while simultaneously optimizing a trajectory and satisfying nonlinear complementarity constraints. The method scales well to high dimensional systems with large numbers of possible modes. We demonstrate the approach using three increasingly complex systems: rotating a pinned object with a finger, planar walking with the Spring Flamingo robot, and high speed bipedal running on the FastRunner platform. 1
Keyphrases
direct trajectory optimization rigid body dynamical system contact high dimensional system large number state-of-the-art technique multi-contact dynamic priori mode contact constraint force complex system high speed bipedal possible mode sequential quadratic programming robotic system complete path fastrunner platform trajectory planning linear complementarity problem abstract direct method nonlinear complementarity constraint discontinuous dynamic trajectory optimization pinned object discrete mode forward simulation novel method spring flamingo robot optimal trajectory
