Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program

Abstract

This paper proposes a kinodynamic motion planning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about centroidal motion, contact points, wrench, and gait sequences. This method uniquely combines configuration space discretization and the construction of feasible wrench polytope (FWP) to encode kinematic constraints, actuator limit, friction cone constraint, and gait sequencing into a single MICP. The MICP could be efficiently solved to the global optimum by off-the-shelf numerical solvers and provide highly dynamic jumping motions without requiring initial guesses. Simulation and experimental results demonstrate that the proposed method could find novel and dexterous maneuvers that are directly deployable on the two-legged robot platform to traverse through challenging terrains.

References in corpus (3)

• Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
• Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots
• Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences

Cited by in corpus (4)

• RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
• Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
• Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
• Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations