Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard

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

Abstract

A common strategy to generate effcient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second step computes the whole-body trajectory that follows the centroidal pattern. While the second step is generally handled by a simple program such as an inverse kinematics solver, we propose in this paper to compute the whole-body trajectory by using a local optimal control solver, namely Differential Dynamic Programming (DDP). Our method produces more efficient motions, with lower forces and smaller impacts, by exploiting the Angular Momentum (AM). With this aim, we propose an original DDP formulation exploiting the Karush-Kuhn-Tucker constraint of the rigid contact model. We experimentally show the importance of this approach by executing large steps walking on the real HRP-2 robot, and by solving the problem of attitude control under the absence of external contact forces.
Original languageEnglish
Title of host publication2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1-9
Number of pages9
ISBN (Electronic)978-1-5386-7283-9
ISBN (Print)978-1-5386-7284-6
DOIs
Publication statusPublished - 24 Jan 2019
Event2018 IEEE-RAS 18th International Conference on Humanoid Robots - Beijing, China
Duration: 6 Nov 20189 Nov 2018
http://humanoids2018.csp.escience.cn/dct/page/1

Publication series

Name
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference2018 IEEE-RAS 18th International Conference on Humanoid Robots
Abbreviated titleHumanoids 2018
Country/TerritoryChina
CityBeijing
Period6/11/189/11/18
Internet address

Keywords

  • attitude control
  • dynamic programming
  • legged locomotion
  • motion control
  • optimal control
  • robot dynamics
  • HRP-2 robot
  • Karush- Kuhn-Tucker constraint
  • DDP
  • locomotion movements
  • differential dynamic programming
  • external contact forces
  • rigid contact model
  • local optimal control solver
  • centroidal pattern
  • whole-body trajectory
  • centroidal trajectory
  • contact sequence
  • multiphase rigid contact dynamics
  • Trajectory
  • Dynamics
  • Optimization
  • Humanoid robots
  • Dynamic programming
  • Legged locomotion

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