Fast interpolation and time-optimization with contact
© 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.
Published Version (Please cite this version)10.1177/0278364914527855
Publication InfoHauser, 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.
More InfoShow full item record
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.