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Trajectory generation for multi-contact momentum control


Conference Paper



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 linear quadratic regulator (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.

Author(s): Herzog, A. and Rotella, N and Schaal, S. and Righetti, L.
Book Title: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
Pages: 874--880
Year: 2015
Publisher: IEEE

Department(s): Autonomous Motion, Movement Generation and Control
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/HUMANOIDS.2015.7363464

Address: Seoul, South Korea
URL: https://arxiv.org/abs/1507.04380


  title = {Trajectory generation for multi-contact momentum control},
  author = {Herzog, A. and Rotella, N and Schaal, S. and Righetti, L.},
  booktitle = {2015 {IEEE}-{RAS} 15th {International} {Conference} on {Humanoid} {Robots} ({Humanoids})},
  pages = {874--880},
  publisher = {IEEE},
  address = {Seoul, South Korea},
  year = {2015},
  url = {https://arxiv.org/abs/1507.04380}