Multicontact Motion Retargeting Using Whole-Body Optimization of Full Kinematics and Sequential Force Equilibrium

Quentin Rouxel, Kai Yuan, Ruoshi Wen, Zhibin Li

Research output: Contribution to journalArticlepeer-review

Abstract

This article presents a multicontact motion adaptation framework that enables teleoperation of high degree-of-freedom robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multicontact settings. Our proposed algorithms optimize whole-body configurations and formulate the retargeting of multicontact motions as sequential quadratic programming, which is robust and stable near the edges of feasibility constraints. Our framework allows real-time operation of the robot and reduces cognitive load for the operator because infeasible commands are automatically adapted into physically stable and viable motions on the robot. The results in simulations with full dynamics demonstrated the effectiveness of teleoperating different legged robots interactively and generating rich multicontact movements. We evaluated the computational efficiency of the proposed algorithms, and further validated and analyzed multicontact loco-manipulation tasks on humanoid and quadruped robots by reaching, active pushing, and various traversal on uneven terrains.
Original languageEnglish
Pages (from-to)4188-4198
Number of pages11
JournalIEEE/ASME Transactions on Mechatronics
Volume27
Issue number5
Early online date4 Mar 2022
DOIs
Publication statusPublished - 1 Oct 2022

Keywords

  • Humanoid
  • legged robot
  • motion retargeting
  • multicontact
  • teleoperation

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