1 research outputs found
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
In this paper, we describe a planner capable of generating walking
trajectories by using the centroidal dynamics and the full kinematics of a
humanoid robot model. The interaction between the robot and the walking surface
is modeled explicitly through a novel contact parametrization. The approach is
complementarity-free and does not need a predefined contact sequence. By
solving an optimal control problem we obtain walking trajectories. In
particular, through a set of constraints and dynamic equations, we model the
robot in contact with the ground. We describe the objective the robot needs to
achieve with a set of tasks. The whole optimal control problem is transcribed
into an optimization problem via a Direct Multiple Shooting approach and solved
with an off-the-shelf solver. We show that it is possible to achieve walking
motions automatically by specifying a minimal set of references, such as a
constant desired Center of Mass velocity and a reference point on the ground.Comment: Accepted to ICRA202