2 research outputs found
IPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs
Hierarchical least-squares programs with linear constraints (HLSP) are a type
of optimization problem very common in robotics. Each priority level contains
an objective in least-squares form which is subject to the linear constraints
of the higher priority hierarchy levels. Active-set methods (ASM) are a popular
choice for solving them. However, they can perform poorly in terms of
computational time if there are large changes of the active set. We therefore
propose a computationally efficient primal-dual interior-point method (IPM) for
HLSP's which is able to maintain constant numbers of solver iterations in these
situations. We base our IPM on the null-space method which requires only a
single decomposition per Newton iteration instead of two as it is the case for
other IPM solvers. After a priority level has converged we compose a set of
active constraints judging upon the dual and project lower priority levels into
their null-space. We show that the IPM-HLSP can be expressed in least-squares
form which avoids the formation of the quadratic Karush-Kuhn-Tucker (KKT)
Hessian. Due to our choice of the null-space basis the IPM-HLSP is as fast as
the state-of-the-art ASM-HLSP solver for equality only problems.Comment: 17 pages, 7 figure
Balancing a humanoid robot with a prioritized contact force distribution
International audienceHumanoid robots propel themselves and perform tasks by interacting with their environment through contact forces. Typically, nonuniqueness of these forces is dealt with by distributing them evenly between the contacts. In the present paper, we introduce strict prioritization in contact force distribution, to reflect situations when an application of certain contact forces should be avoided as much as possible, for example, due to a fragility of the support. We illustrate this by designing a whole body motion controller for a setting with multiple noncoplanar contacts, where application of an optional contact force is allowed only if it is necessary to maintain balance and execute a task. Balance preservation is addressed by imposing a capturability constraint based on anticipation with a linear model adapted to multiple noncoplanar contacts. The controller is evaluated in simulations