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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.
|Title of host publication||2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)|
|Publisher||Institute of Electrical and Electronics Engineers (IEEE)|
|Number of pages||8|
|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
|Conference||2020 IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Abbreviated title||IROS 2020|
|Period||25/10/20 → 29/10/20|
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