パラメータ化可能な不整地における動的二足歩行のための接触陰的全身軌道最適化
Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain
地面形状を滑らかな曲面で近似し、接触順序を事前に与えずに全身ダイナミクスを考慮した接触陰的軌道計画を提案。段差やスロープを含む不整地での動的歩行をシミュレーションと実機ErgoCubで予備検証した。
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著者: Roberto Mauceri, Stefano Dafarra, Giulio Romualdi, Marco Gabiccini, Daniele Pucci
分類: cs.RO
原文アブストラクト
This letter presents a trajectory planner for humanoid robots to perform dynamic motions on complex, parameterizable terrains using a contact-implicit whole-body optimization framework. The planner generates feasible movements without predefined contact sequences, considering the robot's full dynamics and kinematics. To plan bipedal locomotion on steps, ramps, and other terrains, we propose a mathematical model to approximate ground geometry with a smooth surface. The rigid interaction between the robot and the ground is modeled via novel contact constraints, extending the domain of applicability from flat and horizontal surfaces to any arbitrary smooth surface. Effectiveness is demonstrated using nonlinear programming to plan motions on various terrain topologies. We also explore dynamic trajectory generation by embedding high-level requirements in the cost function and the initial guess. Preliminary feasibility tests were conducted over non-coplanar terrains, both in simulation and on the real robot ErgoCub.