Continuous satisfying constraints with contact forces in trajectory optimization for humanoid robots
Continuous satisfying constraints with contact forces in trajectory optimization for humanoid robots
复制标题
人形机器人轨迹优化中连续满足接触力约束
DOI：
10.1109/iros.2015.7353934
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Abderrahmane Kheddar
中科院分区：
文献类型：
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作者：
Benjamin Chretien;Adirien Escande;Abderrahmane Kheddar
类人机器人是欠驱动的，他们需要与他们的环境进行交互才能移动。因此，在优化轨迹时，必须考虑接触力。在本文中，我们首先强调使用参数化函数时遇到的一个问题，在等式约束的存在下，需要在一个时间间隔内连续满足。然后，我们提出了一个参数化的接触力和制定的约束，允许写一个易于处理的优化程序，其解决方案验证在任何时刻所有的约束，这些力量出现。我们完成举例说明的方法与HRP-2人形机器人上获得的初步结果。
Humanoid robots being underactuated, they need to interact with their environment to move. When optimizing trajectories, the contact forces must therefore be taken into account. In this paper, we first highlight an issue encountered when using parametrized functions in the presence of equality constraints which need to be satisfied continuously over a time interval. We then propose a parametrization of contact forces and a formulation of the constraints which allow to write a tractable optimization program whose solution verifies at any instant all the constraints where those forces appear. We finish by exemplifying the approach with preliminary results obtained on a HRP-2 humanoid robot.