On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics
- Resource Type
- Conference
- Authors
- Bratta, Angelo; Orsolino, Romeo; Focchi, Michele; Barasuol, Victor; Muscolo, Giovanni Gerardo; Semini, Claudio
- Source
- 2020 IEEE International Conference on Robotics and Automation (ICRA) Robotics and Automation (ICRA), 2020 IEEE International Conference on. :1417-1423 May, 2020
- Subject
- Robotics and Control Systems
Legged locomotion
Foot
Collision avoidance
Force
Trajectory
Aerodynamics
- Language
- ISSN
- 2577-087X
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions in challenging terrain. The first one finds an approximate relationship between joint-torque limits and admissible contact forces, without requiring the joint positions. The second one proposes a leg model to prevent leg collision with the environment. Such constraints have been included in a simplified nonlinear non-convex trajectory optimization problem. We demonstrate the feasibility of the resulting motion plans both in simulation and on the Hydraulically actuated Quadruped (HyQ) robot, considering experiments on an irregular terrain.