Publikation
Whole-body trajectory optimization
Melya Boukheddimi; Rohit Kumar; Shivesh Kumar; Justin Carpentier; Frank Kirchner
In: Shivesh Kumar; Andreas Müller; Frank Kirchner. Biologically Inspired Series-Parallel Hybrid Robots. Chapter 10, Pages 213-229, Vol. 514, ISBN 978-0-323-88482-2, Elsevier, 11/2024.
Zusammenfassung
Trajectory optimization methods have become ubiquitous for the motion planning and control of underactuated robots, e.g., quadrupeds, humanoids, etc. While they have been extensively used in the case of serial or tree type robots, they are seldomly used for planning and control of robots with closed loops. Series-parallel hybrid topology is quite commonly used in the design of humanoid robots, but they are often neglected during trajectory optimization and the movements are computed for a serial abstraction of the system and then the solution is mapped to the actuator coordinates. As a consequence, the full capability of the robot cannot be exploited. This paper presents a study of whole-body trajectory optimization for series-parallel hybrid robot by taking into account all the holonomic constraints imposed by the closed loops. We demonstrate the advantages of this consideration with a weightlifting task on RH5 Manus humanoid in both simulation and experiments.