Abstract
We present an optimization-based motion planning framework for producing dynamically rich and feasible motions for a 3D one-leg hopper in challenging terrains. We formulate dynamic motion planning as a nonlinear optimization problem that computes position and orientation of the centroidal model, position of the limb, contact forces, contact locations, and timings of the gait in one unified framework. The dynamics are represented as a single rigid body, while the equations of motion are derived using discrete mechanics with a variational quaternion-based integrator for the orientation. We validate the capabilities by planning complex motions in three challenging tasks: jumping over an obstacle, leaping over a gap, and performing a somersault. All contact forces generated by the proposed optimization are verified with accurate numerical simulation to prove the feasibility of the generated agile motions with respect to the kinematic, dynamic, and environmental constraints.
Original language | English |
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Title of host publication | 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) |
Place of Publication | Beijing, China |
Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
Pages | 1-9 |
Number of pages | 6 |
ISBN (Electronic) | 978-1-5386-7283-9 |
ISBN (Print) | 978-1-5386-7284-6 |
DOIs | |
Publication status | Published - 24 Jan 2019 |
Event | 2018 IEEE-RAS 18th International Conference on Humanoid Robots - Beijing, China Duration: 6 Nov 2018 → 9 Nov 2018 http://humanoids2018.csp.escience.cn/dct/page/1 |
Publication series
Name | |
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ISSN (Print) | 2164-0572 |
ISSN (Electronic) | 2164-0580 |
Conference
Conference | 2018 IEEE-RAS 18th International Conference on Humanoid Robots |
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Abbreviated title | Humanoids 2018 |
Country | China |
City | Beijing |
Period | 6/11/18 → 9/11/18 |
Internet address |