Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program
| Autor: | Hae-Won Park, Yanran Ding, Chuanzheng Li |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Computer science 02 engineering and technology Kinematics Gait law.invention Computer Science::Robotics Computer Science - Robotics 020901 industrial engineering & automation Gait (human) law Control theory 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Motion planning Configuration space Legged robot Wrench Actuator Robotics (cs.RO) ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | IROS |
| DOI: | 10.48550/arxiv.2011.01809 |
| Popis: | This paper proposes a kinodynamic motion plan-ning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about centroidal motion, contact points, wrench, and gait sequences. This method uniquely combines configuration space discretization and the construction of feasible wrench polytope (FWP) to encode kinematic constraints, actuator limit, friction cone constraint, and gait sequencing into a single MICP. The MICP could be efficiently solved to the global optimum by off-the-shelf numerical solvers and provide highly dynamic jumping motions without requiring initial guesses. Simulation and experimental results demonstrate that the proposed method could find novel and dexterous maneuvers that are directly deployable on the two-legged robot platform to traverse through challenging terrains. |
| Databáze: | OpenAIRE |
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