Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
复制标题
使用多面投影优化动态轨迹以提高抗扰性
DOI：
10.1109/iros45743.2020.9341788
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
S. Vijayakumar
中科院分区：
文献类型：
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作者：
Henrique Ferrolho;W. Merkt;V. Ivan;W. Wolfslag;S. Vijayakumar
本文主要研究对干扰力和不确定载荷的鲁棒性。我们提出了一种新的配方，以优化动态轨迹的鲁棒性。一个简单的转录这个配方成一个非线性规划问题是不听话的国家的最先进的求解器，但它是可能的，以克服这种复杂性，通过利用由机器人的运动学引起的结构。提出的非平凡转录允许轨迹优化框架收敛到高度鲁棒的动态解决方案。我们证明了我们的方法使用四足机器人配备了机械手的结果。
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to converge to highly robust dynamic solutions. We demonstrate the results of our approach using a quadruped robot equipped with a manipulator.