Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints
Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints
复制标题
使用基于顶点的 ZMP 约束对腿式机器人进行快速轨迹优化
DOI：
10.1109/lra.2017.2723931
复制
发表时间：
2017
影响因子：
5.2
通讯作者：
J. Buchli
中科院分区：
文献类型：
--
作者：
Alexander W. Winkler;Farbod Farshidian;D. Pardo;Michael Neunert;J. Buchli
这封信结合了快速零力矩点的方法，在实践中很好地工作与更广泛的能力的轨迹优化制定，通过优化身体运动，立足点，和压力中心的同时。我们引入了一个基于顶点的表示的支持面积约束，它可以处理任意方向的点，线，和面积接触一致。这种概括使我们能够创建运动，例如四足步行，小跑，跳跃，起搏，组合，以及这些之间的过渡，跛行，双足步行和推恢复都采用相同的方法。这个公式构成了腿部运动中物理定律（单边接触力）和运动学限制（运动范围）的最小表示，这使我们能够在不到一秒的时间内产生不同的运动。我们证明的可行性所产生的运动上的真实的四足机器人。
This letter combines the fast zero-moment-point approaches that work well in practice with the broader range of capabilities of a trajectory optimization formulation, by optimizing over body motion, footholds, and center of pressure simultaneously. We introduce a vertex-based representation of the support-area constraint, which can treat arbitrarily oriented point-, line-, and area-contacts uniformly. This generalization allows us to create motions, such as quadrupedal walking, trotting, bounding, pacing, combinations, and transitions between these, limping, bipedal walking, and push recovery all with the same approach. This formulation constitutes a minimal representation of the physical laws (unilateral contact forces) and kinematic restrictions (range of motion) in legged locomotion, which allows us to generate diverse motions in less than a second. We demonstrate the feasibility of the generated motions on a real quadruped robot.