论文标题
使用接触参数化的全身步行生成：一种非线性轨迹优化方法
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
论文作者
论文摘要
在本文中，我们描述了一个能够通过使用质心动力学和人形机器人模型的整个运动学来产生步行轨迹的计划者。机器人与步行表面之间的相互作用是通过新的接触参数明确建模的。该方法不含互补性，不需要预定义的接触顺序。通过解决最佳控制问题，我们获得步行轨迹。特别是，通过一组约束和动态方程式，我们对机器人进行了建模与地面接触的机器人。我们描述了机器人通过一组任务所需的目标。整个最佳控制问题通过直接多次拍摄方法转录为优化问题，并使用现成的求解器解决。我们表明，可以通过指定最小的参考集，例如恒定所需的质量速度中心和地面上的参考点来自动实现行走运动。
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction between the robot and the walking surface is modeled explicitly through a novel contact parametrization. The approach is complementarity-free and does not need a predefined contact sequence. By solving an optimal control problem we obtain walking trajectories. In particular, through a set of constraints and dynamic equations, we model the robot in contact with the ground. We describe the objective the robot needs to achieve with a set of tasks. The whole optimal control problem is transcribed into an optimization problem via a Direct Multiple Shooting approach and solved with an off-the-shelf solver. We show that it is possible to achieve walking motions automatically by specifying a minimal set of references, such as a constant desired Center of Mass velocity and a reference point on the ground.
