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On Time Optimization of Centroidal Momentum Dynamics


Conference Paper


Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization approach difficult and timing is usually kept fixed in most trajectory optimization techniques to not introduce additional non convexities to the problem. But this can limit the versatility of the algorithms. In our previous work, we proposed a convex relaxation of the problem that allowed to efficiently compute momentum trajectories and contact forces. However, our approach could not minimize a desired angular momentum objective which seriously limited its applicability. Noticing that the non-convexity introduced by the time variables is of similar nature as the centroidal dynamics one, we propose two convex relaxations to the problem based on trust regions and soft constraints. The resulting approaches can compute time-optimized dynamically consistent trajectories sufficiently fast to make the approach realtime capable. The performance of the algorithm is demonstrated in several multi-contact scenarios for a humanoid robot. In particular, we show that the proposed convex relaxation of the original problem finds solutions that are consistent with the original non-convex problem and illustrate how timing optimization allows to find motion plans that would be difficult to plan with fixed timing.

Author(s): B. Ponton and A. Herzog and A. del Prete and S. Schaal and L. Righetti
Book Title: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2018
Year: 2018
Month: May
Publisher: IEEE

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)
Paper Type: Conference

Event Name: International Conference on Robotics and Automation
Event Place: Brisbane, Australia

Links: video


@inproceedings{Time Optimization,
  title = {On Time Optimization of Centroidal Momentum Dynamics},
  author = {Ponton, B. and Herzog, A. and del Prete, A. and Schaal, S. and Righetti, L.},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2018},
  publisher = {IEEE},
  month = may,
  year = {2018},
  month_numeric = {5}