On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics

Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions in c...

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Bibliographic Details
Main Authors: Bratta, Angelo, Orsolino, Romeo, Focchi, Michele, Barasuol, Victor, Muscolo, Giovanni Gerardo, Semini, Claudio
Format: Conference Proceeding
Language:English
Subjects:
Aerodynamics
Collision avoidance
Foot
Force
Legged locomotion
Trajectory
Online Access:Request full text
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Summary:Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions in challenging terrain. The first one finds an approximate relationship between joint-torque limits and admissible contact forces, without requiring the joint positions. The second one proposes a leg model to prevent leg collision with the environment. Such constraints have been included in a simplified nonlinear non-convex trajectory optimization problem. We demonstrate the feasibility of the resulting motion plans both in simulation and on the Hydraulically actuated Quadruped (HyQ) robot, considering experiments on an irregular terrain.
ISSN:2577-087X
DOI:10.1109/ICRA40945.2020.9196903