Whole-Body Trajectory Optimization for Humanoid Falling
BibTeX
@MISC{Wang_whole-bodytrajectory,
author = {Jiuguang Wang and Eric C. Whitman and Mike Stilman},
title = {Whole-Body Trajectory Optimization for Humanoid Falling},
year = {}
}
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Abstract
Abstract — We present an optimization-based control strategy for generating whole-body trajectories for humanoid robots in order to minimize damage due to falling. In this work, the falling problem is formulated using optimal control where we seek to minimize the impulse on impact with the ground, subject to the full-body dynamics and constraints of the robot in joint space. We extend previous work in this domain by numerically approximating the resulting optimal control, generating open-loop trajectories by solving an equivalent nonlinear programming problem. Compared to previous results in falling optimization, the proposed framework is extendable to more complex dynamic models and generate trajectories that are guaranteed to be physically feasible. These results are implemented in simulation using models of dynamically balancing humanoid robots in several experimental scenarios. Index Terms — Humanoid robot, optimal falling strategy, pseudospectral optimal control I.
Keyphrases
humanoid falling whole-body trajectory optimization humanoid robot optimal control complex dynamic model pseudospectral optimal control equivalent nonlinear programming problem open-loop trajectory whole-body trajectory several experimental scenario previous work joint space optimization-based control strategy index term humanoid robot previous result full-body dynamic
