Fast interpolation and time-optimization with contact
Abstract
© The Author(s) 2014.This paper presents a method for generating dynamically feasible,
keyframe-interpolating motions for robots undergoing contact, such as in legged locomotion
and manipulation. The first stage generates a twice-differentiable interpolating path
that obeys kinematic contact constraints up to a user-specified tolerance. The second
stage optimizes speeds along the path to minimize time while satisfying dynamic constraints.
The method supports velocity, acceleration, and torque constraints, and polyhedral
contact friction constraints at an arbitrary number of contact points. The method
is numerically stable, and empirical running time is weakly linear in the number of
degrees of freedom and polynomial in the time-domain grid resolution. Experiments
demonstrate that full-body motions for robots with 100 degrees of freedom and dozens
of contact points are calculated in seconds.
Type
Journal articlePermalink
https://hdl.handle.net/10161/10306Published Version (Please cite this version)
10.1177/0278364914527855Publication Info
Hauser, K (2014). Fast interpolation and time-optimization with contact. International Journal of Robotics Research, 33(9). pp. 1231-1250. 10.1177/0278364914527855. Retrieved from https://hdl.handle.net/10161/10306.This is constructed from limited available data and may be imprecise. To cite this
article, please review & use the official citation provided by the journal.
Collections
More Info
Show full item recordScholars@Duke
Kris Hauser
Adjunct Associate Professor in the Department of Electrical and Computer Engineering
Robot motion planning and control, semiautonomous robots, and integrating perception
and planning. Applications of this research have included automated vehicle collision
avoidance, robotic manipulation, robot-assisted medicine, and legged locomotion.

Articles written by Duke faculty are made available through the campus open access policy. For more information see: Duke Open Access Policy
Rights for Collection: Scholarly Articles
Works are deposited here by their authors, and represent their research and opinions, not that of Duke University. Some materials and descriptions may include offensive content. More info