Hierarchical planning of dynamic movements without scheduled contact sequences

Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

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

Abstract / Description of output

Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a hierarchical trajectory optimization approach for planning dynamic movements with unscheduled contact sequences. We compute whole-body motions that achieve goals that cannot be reached in a kinematic fashion. First, we find a feasible CoM motion according to the centroidal dynamics of the robot. Then, we refine the solution by applying the robot’s full-dynamics model, where the feasible CoM trajectory is used as a warm-start point. To accomplish the unscheduled contact behavior, we use complementarity constraints to describe the contact model, i.e. environment geometry and non-sliding active contacts. Both optimization phases are posed as Mathematical Program with Complementarity Constraints (MPCC). Experimental trials demonstrate the performance of our planning approach in a set of challenging tasks.
Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)978-1-4673-8026-3
Publication statusPublished - 9 Jun 2016
Event2016 IEEE International Conference on Robotics and Automation - Stockholm, Sweden
Duration: 16 May 201621 May 2016


Conference2016 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2016
Internet address

Keywords / Materials (for Non-textual outputs)

  • legged locomotion
  • mathematical analysis
  • motion control
  • optimisation
  • path planning
  • robot dynamics
  • scheduling
  • trajectory control
  • hierarchical planning
  • dynamic movements
  • scheduled contact sequences
  • human locomotion behaviors
  • animal locomotion behaviors
  • dynamic motions
  • hierarchical trajectory optimization approach
  • planning dynamic movements
  • unscheduled contact sequences
  • kinematic fashion
  • nonsliding active contacts
  • environment geometry
  • mathematical program with complementarity constraints
  • optimization phases
  • MPCC
  • legged robots
  • Dynamics
  • Robots
  • Trajectory optimization
  • Planning
  • Mathematical model


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