{"title":"Fast Multi-Contact Motion Planning Based on Best-Neighbor Search of Contact Sequences","authors":"Y. Tazaki","doi":"10.1109/Humanoids53995.2022.10000158","DOIUrl":null,"url":null,"abstract":"This paper presents a computationally efficient method for planning dynamic multi-contact motion. A low-dimensional dynamical model of a robot equipped with multiple contact points is developed, and a motion planning problem is formulated as a optimal control problem with continuous and discrete variables. An extension to the differential dynamic programming (DDP) framework enables efficient computation of optimal cost for a large number of locally modified contact sequences. Based on this finding, a novel algorithm for multi-contact motion planning is developed, and its performance is evaluated in simulations.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/Humanoids53995.2022.10000158","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This paper presents a computationally efficient method for planning dynamic multi-contact motion. A low-dimensional dynamical model of a robot equipped with multiple contact points is developed, and a motion planning problem is formulated as a optimal control problem with continuous and discrete variables. An extension to the differential dynamic programming (DDP) framework enables efficient computation of optimal cost for a large number of locally modified contact sequences. Based on this finding, a novel algorithm for multi-contact motion planning is developed, and its performance is evaluated in simulations.
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