Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
School of Informatics, University of Edinburgh（爱丁堡大学信息学院）；Oxford Robotics Institute, University of Oxford（牛津大学牛津机器人研究所）
英文摘要：
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to converge to highly robust dynamic solutions. We demonstrate the results of our approach using a quadruped robot equipped with a manipulator.
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