Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

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.

IROS 2020 Presentation Video

Supplementary Video

Cite

@inproceedings{ferrolho2020optimizing,
  title = {Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections},
  author = {H. Ferrolho and W. Merkt and V. Ivan and W. Wolfslag and S. Vijayakumar},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2020},
  doi = {10.1109/IROS45743.2020.9341788}
}