Trajectory optimization of contact-rich motions using implicit differential dynamic programming. Chatzinikolaidis, I. & Li, Z. IEEE Robotics and Automation Letters, 6(2):2626–2633, April, 2021. ![Trajectory optimization of contact-rich motions using implicit differential dynamic programming [link]](https://bibbase.org/img/filetypes/link.svg "link")
Paper doi abstract bibtex 11 downloads This work presents a Differential Dynamic Programming (DDP) approach for systems characterized by implicit dynamics using sensitivity analysis, such as those modelled via inverse dynamics, variational, and implicit integrators. It leads to a more general formulation of DDP, enabling the use of the faster recursive Newton-Euler inverse dynamics. We leverage the implicit formulation for precise and exact contact modelling in DDP, where we focus on two contributions: (1) contact dynamics at the acceleration level; (2) formulation using an invertible contact model in the forward pass and a closed-form solution in the backward pass to improve the numerical resolution of contacts. The performance of the proposed framework is validated by comparing implicit versus explicit DDP for the swing-up of a double pendulum, and by planning motions for two tasks using a single leg model making multi-body contacts with the environment: standing up from ground, where a priori contact enumeration is challenging, and maintaining balance under an external perturbation.
@article{chatzinikolaidis_trajectory_2021,
title = {Trajectory optimization of contact-rich motions using implicit differential dynamic programming},
volume = {6},
issn = {2377-3766},
url = {https://hdl.handle.net/20.500.11820/9c9579e9-0851-4e5f-b0f6-7f16d333d816},
doi = {10.1109/LRA.2021.3061341},
abstract = {This work presents a Differential Dynamic Programming (DDP) approach for systems characterized by implicit dynamics using sensitivity analysis, such as those modelled via inverse dynamics, variational, and implicit integrators. It leads to a more general formulation of DDP, enabling the use of the faster recursive Newton-Euler inverse dynamics. We leverage the implicit formulation for precise and exact contact modelling in DDP, where we focus on two contributions: (1) contact dynamics at the acceleration level; (2) formulation using an invertible contact model in the forward pass and a closed-form solution in the backward pass to improve the numerical resolution of contacts. The performance of the proposed framework is validated by comparing implicit versus explicit DDP for the swing-up of a double pendulum, and by planning motions for two tasks using a single leg model making multi-body contacts with the environment: standing up from ground, where a priori contact enumeration is challenging, and maintaining balance under an external perturbation.},
number = {2},
journal = {IEEE Robotics and Automation Letters},
author = {Chatzinikolaidis, Iordanis and Li, Zhibin},
month = apr,
year = {2021},
keywords = {Computational modeling, Contact modeling, Dynamic programming, Heuristic algorithms, Legged locomotion, Numerical models, Planning, Robots, legged robots, multi-contact whole-body motion planning and control, optimization and optimal control, task and motion planning},
pages = {2626--2633},
}
Downloads: 11
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