Nonlinear Optimization using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper

Iordanis Chatzinikolaidis; Theodoros Stouraitis; Sethu Vijayakumar; Zhibin Li

doi:10.1109/HUMANOIDS.2018.8624981

Nonlinear Optimization using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper

Iordanis Chatzinikolaidis, Theodoros Stouraitis, Sethu Vijayakumar, Zhibin Li

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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
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	https://doi.org/10.1109/HUMANOIDS.2018.8624981
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
ISSN (Print)	2164-0572
ISSN (Electronic)	2164-0580

Conference

Conference	2018 IEEE-RAS 18th International Conference on Humanoid Robots
Abbreviated title	Humanoids 2018
Country	China
City	Beijing
Period	6/11/18 → 9/11/18
Internet address	http://humanoids2018.csp.escience.cn/dct/page/1

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Chatzinikolaidis, I., Stouraitis, T., Vijayakumar, S., & Li, Z. (2019). Nonlinear Optimization using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) (pp. 1-9). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/HUMANOIDS.2018.8624981

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title = "Nonlinear Optimization using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper",

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.",

author = "Iordanis Chatzinikolaidis and Theodoros Stouraitis and Sethu Vijayakumar and Zhibin Li",

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note = "2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018 ; Conference date: 06-11-2018 Through 09-11-2018",

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Chatzinikolaidis, I, Stouraitis, T, Vijayakumar, S & Li, Z 2019, Nonlinear Optimization using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper. in 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). Institute of Electrical and Electronics Engineers (IEEE), Beijing, China, pp. 1-9, 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Beijing, China, 6/11/18. https://doi.org/10.1109/HUMANOIDS.2018.8624981

Nonlinear Optimization using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper. / Chatzinikolaidis, Iordanis; Stouraitis, Theodoros; Vijayakumar, Sethu ; Li, Zhibin.

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). Beijing, China : Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 1-9.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Nonlinear Optimization using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper

AU - Chatzinikolaidis, Iordanis

AU - Stouraitis, Theodoros

AU - Vijayakumar, Sethu

AU - Li, Zhibin

PY - 2019/1/24

Y1 - 2019/1/24

N2 - 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.

AB - 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.

U2 - 10.1109/HUMANOIDS.2018.8624981

DO - 10.1109/HUMANOIDS.2018.8624981

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BT - 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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Chatzinikolaidis I, Stouraitis T, Vijayakumar S , Li Z. Nonlinear Optimization using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). Beijing, China: Institute of Electrical and Electronics Engineers (IEEE). 2019. p. 1-9 https://doi.org/10.1109/HUMANOIDS.2018.8624981