Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

Henrique Ferrolho; Wolfgang Merkt; Vladimir Ivan; Wouter Wolfslag; Sethu Vijayakumar

IROS 2020poster34 citations

Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar

Abstract

This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to converge to highly robust dynamic solutions. We demonstrate the results of our approach using a quadruped robot equipped with a manipulator.

BibTeX

@inproceedings{iros2020_optimizingdynami,
  title = {Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections},
  author = {Henrique Ferrolho and Wolfgang Merkt and Vladimir Ivan and Wouter Wolfslag and Sethu Vijayakumar},
  booktitle = {IROS 2020},
  year = {2020}
}