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 proceedingConference 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 languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages7477-7484
Number of pages8
ISBN (Electronic)978-1-7281-6212-6
ISBN (Print)978-1-7281-6213-3
DOIs
Publication statusPublished - 10 Feb 2021
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, United States
Duration: 25 Oct 202029 Oct 2020
https://www.iros2020.org/index.html

Publication series

Name
PublisherIEEE
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2020
Country/TerritoryUnited States
CityLas Vegas
Period25/10/2029/10/20
Internet address

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