This paper proposes a new computation method to solve semi-infinite optimization problems for motion planning of robotic systems. Usually, this problem is solved by means of time-grid discretization of the continuous constraints. Unfortunately, discretization may lead to unsafe motions since there is no guarantee of constraint satisfaction between time samples. First, we show that constraints such as joint position and velocity do not need time-discretization to be checked. Then, we present the computation method based on Taylor polynomials to evaluate more complex constraints over timeintervals. This method also applies to continuous equality constraints, to continuous maximum derivative constraint, and to compute the cost function.
Abstract-We present a multi-contact motion planning method that generates dynamic joint trajectories for multi-body robots that satisfy a set of continuous constraints. We highlight two variants when it comes to generate a single-contact or a multi-contact motion: the presence of the continuous equality geometrical constraints and of the contact forces. In this work, we compute the free-flyer trajectory and the contact forces from the joint trajectories provided by the optimization process. We assess our method on three dynamical multi-contact motions with 2D models. The comparison with intuitive adaptations of the single-contact motion planning methods shows the effectiveness of our method.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.