Fast Multi-Contact Whole-Body Motion Planning with Limb Dynamics
Fast Multi-Contact Whole-Body Motion Planning with Limb Dynamics
复制标题
利用肢体动力学进行快速多接触全身运动规划
DOI：
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复制
发表时间：
2018
期刊：
影响因子：
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通讯作者：
A. Ijspeert
中科院分区：
文献类型：
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作者：
Jonathan Arreguit;Salman Faraji;A. Ijspeert
我们提出了一种新的多接触运动规划方法，该方法不需要使用完整的模型就可以有效地对机器人的内部动力学进行编码。我们的方法是基于五质量模型，该模型是由笛卡儿点而不是关节角来表示的。我们解决的直接优化问题包括这些点之间的距离约束、牛顿方程和积分约束。我们考虑了给定的触点开关节奏，但在优化中保留了相位定时和触点位置的自由，以提供更大的灵活性。由于方程更简单，问题结构更稀疏，可以在几百毫秒量级实现很短的优化时间，这使得该方法适合于在线模型预测控制的应用。除了接触位置和时间调整属性外，我们还可以包括精确的立足点区域，并通过考虑内部动力学和动量来合成动态运动。
We present a new method for multi-contact motion planning which efficiently encodes internal dynamics of the robot without needing to use full models. Our approach is based on a five-mass model which is formulated by Cartesian points instead of joint angles. We solve direct optimization problems which include distance constraints between these points, Newtonian equations and integration constraints. We consider a given rhythm of contact switches but leave the phase-timings and contact positions free inside the optimization to provide more flexibility. Due to simpler equations and sparser problem structures, we can achieve very short optimization times in the order of few hundred milliseconds, which make the method suitable for application of online model predictive control. Aside from contact position and time adjustment properties, we can include precise foothold regions and synthesize dynamic motions by taking internal dynamics and momentums into account.
影响因子：
3.3
作者：
Hausdorff, JM;Zemany, L;Goldberger, AL
通讯作者：
Goldberger, AL