Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

Henrique Ferrolho; Wolfgang Merkt; Vladimir Ivan; Wouter Wolfslag; Sethu Vijayakumar

doi:10.1109/IROS45743.2020.9341788

Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar

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

Abstract

This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to converge to highly robust dynamic solutions. We demonstrate the results of our approach using a quadruped robot equipped with a manipulator.

Original language	English
Title of host publication	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	Institute of Electrical and Electronics Engineers
Pages	7477-7484
Number of pages	8
ISBN (Electronic)	978-1-7281-6212-6
ISBN (Print)	978-1-7281-6213-3
DOIs	https://doi.org/10.1109/IROS45743.2020.9341788
Publication status	Published - 10 Feb 2021
Event	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, United States Duration: 25 Oct 2020 → 29 Oct 2020 https://www.iros2020.org/index.html

Publication series

Name
Publisher	IEEE
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS 2020
Country/Territory	United States
City	Las Vegas
Period	25/10/20 → 29/10/20
Internet address	https://www.iros2020.org/index.html

Access to Document

10.1109/IROS45743.2020.9341788Licence: All Rights Reserved

Optimizing Dynamic_FERROLHO_DOA01072020_AFVAccepted author manuscript, 3.01 MBLicence: All Rights Reserved

https://ieeexplore.ieee.org/document/9341788Licence: All Rights Reserved

MEMMO - Memory of Motion
Vijayakumar, S.
EU government bodies
1/01/18 → 30/06/22
Project: Research
UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management (ORCA)
Vijayakumar, S., Mistry, M., Ramamoorthy, R. & Williams, C.
EPSRC
1/10/17 → 31/03/22
Project: Research

Cite this

@inproceedings{bab0ab67d1a044f789ecdc6a6c7ae6af,

title = "Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections",

abstract = "This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to converge to highly robust dynamic solutions. We demonstrate the results of our approach using a quadruped robot equipped with a manipulator.",

author = "Henrique Ferrolho and Wolfgang Merkt and Vladimir Ivan and Wouter Wolfslag and Sethu Vijayakumar",

year = "2021",

month = feb,

day = "10",

doi = "10.1109/IROS45743.2020.9341788",

language = "English",

isbn = "978-1-7281-6213-3",

publisher = "Institute of Electrical and Electronics Engineers",

pages = "7477--7484",

booktitle = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

address = "United States",

note = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 ; Conference date: 25-10-2020 Through 29-10-2020",

url = "https://www.iros2020.org/index.html",

}

Ferrolho, H, Merkt, W, Ivan, V, Wolfslag, W & Vijayakumar, S 2021, Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 7477-7484, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9341788

Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. / Ferrolho, Henrique; Merkt, Wolfgang; Ivan, Vladimir et al.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, 2021. p. 7477-7484.

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

TY - GEN

T1 - Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

AU - Ferrolho, Henrique

AU - Merkt, Wolfgang

AU - Ivan, Vladimir

AU - Wolfslag, Wouter

AU - Vijayakumar, Sethu

PY - 2021/2/10

Y1 - 2021/2/10

N2 - This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to converge to highly robust dynamic solutions. We demonstrate the results of our approach using a quadruped robot equipped with a manipulator.

AB - This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to converge to highly robust dynamic solutions. We demonstrate the results of our approach using a quadruped robot equipped with a manipulator.

U2 - 10.1109/IROS45743.2020.9341788

DO - 10.1109/IROS45743.2020.9341788

M3 - Conference contribution

SN - 978-1-7281-6213-3

SP - 7477

EP - 7484

BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - Institute of Electrical and Electronics Engineers

T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 25 October 2020 through 29 October 2020

ER -

Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

Abstract

Publication series

Conference

Access to Document

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Projects

MEMMO - Memory of Motion

UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management (ORCA)

Cite this