CROC: Convex Resolution of Centroidal Dynamics Trajectories to Provide a Feasibility Criterion for the Multi Contact Planning Problem

P. Fernbach, S. Tonneau, M. Taïx

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

We tackle the transition feasibility problem, that is the issue of determining whether there exists a feasible motion connecting two configurations of a legged robot. To achieve this we introduce CROC, a novel method for computing centroidal dynamics trajectories in multi-contact planning contexts. Our approach is based on a conservative and convex reformulation of the problem, where we represent the center of mass trajectory as a Bezier curve comprising a single free control point as a variable. Under this formulation, the transition problem is solved efficiently with a Linear Program (LP)of low dimension. We use this LP as a feasibility criterion, incorporated in a sampling-based contact planner, to discard efficiently unfeasible contact plans. We are thus able to produce robust contact sequences, likely to define feasible motion synthesis problems. We illustrate this application on various multi-contact scenarios featuring HRP2 and HyQ. We also show that we can use CROC to compute valuable initial guesses, used to warm-start non-linear solvers for motion generation methods. This method could also be used for the 0 and 1-Step capturability problem. The source code of CROC is available under an open source BSD-2 License.
Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Place of PublicationMadrid, Spain
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1-9
Number of pages9
ISBN (Electronic)978-1-5386-8094-0, 978-1-5386-8093-3
ISBN (Print)978-1-5386-8095-7
DOIs
Publication statusPublished - 1 Oct 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems - Madrid, Spain
Duration: 1 Oct 20185 Oct 2018
https://www.iros2018.org/

Publication series

Name
PublisherIEEE
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2018
Country/TerritorySpain
CityMadrid
Period1/10/185/10/18
Internet address

Keywords / Materials (for Non-textual outputs)

  • approximation theory
  • computational geometry
  • legged locomotion
  • linear programming
  • motion control
  • path planning
  • sampling methods
  • trajectory control
  • CROC
  • feasibility criterion
  • multicontact planning problem
  • transition feasibility problem
  • legged robot
  • conservative reformulation
  • convex reformulation
  • Bezier curve
  • transition problem
  • sampling-based contact planner
  • motion generation methods
  • center of mass trajectory
  • convex resolution of centroidal dynamics trajectories
  • free control point
  • contact sequences
  • motion synthesis problems
  • linear program
  • Trajectory
  • Dynamics
  • Planning
  • Acceleration
  • Legged locomotion
  • Kinematics

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