CROC: Convex Resolution Of Centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem - Archive ouverte HAL Access content directly
Conference Papers Year : 2018

CROC: Convex Resolution Of Centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem

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Abstract

We present a novel method for computing centroidal dynamic trajectories in multi-contact planning context. With dynamic motion it is necessary to respect kinematic and dynamic constraints during the contact planning step. Verifying the feasibility of a transition between contacts increase the success rate of the motion generation along the planned contacts. Our approach is based on a conservative but convex reformulation of the problem where we represent the center of mass trajectory as a Bezier curve, with control points constrained by the initial and final states and one free control point. Thanks to the convexity of this formulation, we can solve it efficiently with a Linear Program of low dimension. We use this LP as a feasibility criterion to test the contact transition candidates during multi-contact planning. By incorporating this criterion in an existing sampling-based contact planner, we are able to produce more robust contact sequences. We illustrate this application on various multi-contact scenarios. We also show that we can compute valuable initial guess, used to warm-start non-linear solvers for motion generation methods. This method could also be used for the 0 and 1-Step capturability problem.
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Dates and versions

hal-01726155 , version 1 (08-03-2018)
hal-01726155 , version 2 (23-05-2018)
hal-01726155 , version 3 (24-10-2018)

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Pierre Fernbach, Steve Tonneau, Michel Taïx. CROC: Convex Resolution Of Centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. 7p., ⟨10.1109/IROS.2018.8593888⟩. ⟨hal-01726155v3⟩
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