Trajectory generation for multi-contact momentum-control

Abstract

Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For example, the LIPM does not allow for the control of contact forces independently, is limited to co-planar contacts and assumes that the angular momentum is zero. In this paper, we propose to use the full momentum equations of a humanoid robot in a trajectory optimization framework to plan its center of mass, linear and angular momentum trajectories. The model also allows for planning desired contact forces for each end-effector in arbitrary contact locations. We extend our previous results on LQR design for momentum control by computing the (linearized) optimal momentum feedback law in a receding horizon fashion. The resulting desired momentum and the associated feedback law are then used in a hierarchical whole body control approach. Simulation experiments show that the approach is computationally fast and is able to generate plans for locomotion on complex terrains while demonstrating good tracking performance for the full humanoid control.

References in corpus (1)

• Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

Cited by in corpus (15)

• Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
• Structured contact force optimization for kino-dynamic motion generation
• Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics
• Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
• Humanoid Momentum Estimation Using Sensed Contact Wrenches
• A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots
• A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots
• A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation
• Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations
• Learning Task-Specific Dynamics to Improve Whole-Body Control
• A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
• Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot
• Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics
• When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC
• Step Timing Adjustment: A Step toward Generating Robust Gaits