论文标题
有效的多接触模式生成具有质心动力学的顺序凸近近似值
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
论文作者
论文摘要
本文研究了有效计算物理一致的多接触行为的问题。最近的工作表明，在温和的假设下，该问题可以分解为更简单的运动学动力学优化问题。基于这种方法，我们提出了基于二阶锥体程序的迭代分辨率的两种计算有效算法的质心动力学的一般凸松弛。他们优化了质心轨迹，接触力以及运动的时机。我们将方法包括在基诺动态优化的方法中，以生成全身运动。最后，将该方法嵌入混合求解器中，以进一步找到动态一致的接触序列。广泛的数值实验证明了该方法的计算效率，这表明它可以在快速退缩的地平线控制环中使用。在模拟的类人动物和四足动物以及实际四倍的机器人上执行计划的动议，进一步显示了优化动作的质量。
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic optimization problems. Based on this approach, we propose a general convex relaxation of the centroidal dynamics leading to two computationally efficient algorithms based on iterative resolutions of second order cone programs. They optimize centroidal trajectories, contact forces and, importantly, the timing of the motions. We include the approach in a kino-dynamic optimization method to generate full-body movements. Finally, the approach is embedded in a mixed-integer solver to further find dynamically consistent contact sequences. Extensive numerical experiments demonstrate the computational efficiency of the approach, suggesting that it could be used in a fast receding horizon control loop. Executions of the planned motions on simulated humanoids and quadrupeds and on a real quadruped robot further show the quality of the optimized motions.
