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

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Original languageEnglish
Title of host publicationProceedings of the 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
Place of PublicationBeijing, China
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
StateAccepted/In press - 19 Sep 2018
Event2018 IEEE-RAS 18th International Conference on Humanoid Robots - Beijing, China
Duration: 6 Nov 20189 Nov 2018


Conference2018 IEEE-RAS 18th International Conference on Humanoid Robots
Abbreviated titleHumanoids 2018
Internet address


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.


2018 IEEE-RAS 18th International Conference on Humanoid Robots


Beijing, China

Event: Conference

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