IROS 2020 Teaser · Dynamic Trajectories Robust to Disturbances скачать в хорошем качестве

IROS 2020 Teaser · Dynamic Trajectories Robust to Disturbances

Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar, “Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, Oct. 2020. 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.