Multi-mode Trajectory Optimization for Impact-aware Manipulation

Theodoros Stouraitis, Lei Yan, Joao Moura, Michael Gienger, Sethu Vijayakumar

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

Abstract / Description of output

The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact forces. In this paper, we introduce an impact-aware multi-mode trajectory optimization (TO) method that integrates both hybrid dynamics and hybrid control in a coherent fashion. A key concept is the incorporation of an explicit contact force transmission model in the TO method. This allows the simultaneous optimization of the contact forces, contact timings, continuous motion trajectories and compliance, while satisfying task constraints. We compare our method against standard compliance control and an impact-agnostic TO method in physical simulations. Further, we experimentally validate the proposed method with a robot manipulator on the task of halting a large-momentum object.
Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages9425 - 9432
Number of pages8
ISBN (Electronic)978-1-7281-6212-6
ISBN (Print)978-1-7281-6213-3
Publication statusPublished - 10 Feb 2021
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, United States
Duration: 25 Oct 202029 Oct 2020

Publication series

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


Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2020
Country/TerritoryUnited States
CityLas Vegas
Internet address


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