A Global Quasi-Dynamic Model for Contact-Trajectory Optimization in Manipulation
A Global Quasi-Dynamic Model for Contact-Trajectory Optimization in Manipulation
复制标题
操纵中接触轨迹优化的全局准动态模型
DOI：
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复制
发表时间：
2020
期刊：
影响因子：
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通讯作者：
Alberto Rodriguez
中科院分区：
文献类型：
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作者：
Bernardo Aceituno;Alberto Rodriguez
- 构成所需的对象轨迹，机器人应该如何实现此问题的触点？物理学的准动态松弛是近似双线性扭矩效应并贬低高阶力和影响的结果。此外，我们采用了凸的方法，这些方法保留了刚性多接触的基本特性，因此我们得出了一个混合式凸模型，该模型提供了全局最优性，不可行的检测和收敛保证。对象和环境的形状。优化多接触操作行为。
—Given a desired object trajectory, how should a robot make contact to achieve it? This paper proposes a global optimization model for this problem with alternated-sticking contact, referred to as Contact-Trajectory Optimization. We achieve this by reasoning on simplified geometric environments with a quasi-dynamic relaxation of the physics. These relaxations are the result of approximating bilinear torque effects and deprecating high-order forces and impacts. Moreover, we apply convex approximations that retain the fundamental properties of rigid multi-contact interaction. As result, we derive a mixed-integer convex model that provides global optimality, infeasibility detection and convergence guarantees. This approach does not require seeding and accounts for the shapes of the object and environment. We validate this approach with extensive simulated and real-robot experiments, demonstrating its ability to quickly and reliably optimize multi-contact manipulation behaviors.
DOI：
10.1109/icra40945.2020.9197568
发表时间：
2019-09
期刊：
2020 IEEE International Conference on Robotics and Automation (ICRA)
影响因子：
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作者：
Alp Aydinoglu;V. Preciado;Michael Posa
通讯作者：
Alp Aydinoglu;V. Preciado;Michael Posa
使用旋转快速规划 3D 任意姿势重新定向
DOI：
10.1109/icra.2018.8462834
发表时间：
2018
期刊：
IEEE International Conference on Robotics and Automation (ICRA
影响因子：
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作者：
Hou, Yifan;Jia, Zhenzhong;Mason, Matthew T.
通讯作者：
Mason, Matthew T.