Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain

IF 5.3 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-09-24 DOI:10.1109/LRA.2025.3614066

Roberto Mauceri;Stefano Dafarra;Giulio Romualdi;Marco Gabiccini;Daniele Pucci

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Abstract

This letter presents a trajectory planner for humanoid robots to perform dynamic motions on complex, parameterizable terrains using a contact-implicit whole-body optimization framework. The planner generates feasible movements without predefined contact sequences, considering the robot full dynamics and kinematics. To plan bipedal locomotion on steps, ramps, and other terrains, we propose a mathematical model to approximate ground geometry with a smooth surface. The rigid interaction between the robot and the ground is modeled via novel contact constraints, extending the domain of applicability from flat and horizontal surfaces to any arbitrary smooth surface. Effectiveness is demonstrated using nonlinear programming to plan motions on various terrain topologies. We also explore dynamic trajectory generation by embedding high-level requirements in the cost function and the initial guess. Preliminary feasibility tests were conducted over non-coplanar terrains, both in simulation and on the real robot ErgoCub.

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参数化非平坦地形下仿人动态运动的隐式接触全身轨迹优化

这封信提出了一个轨迹规划的人形机器人执行动态运动在复杂的，可参数化的地形使用接触隐式全身优化框架。该规划器生成可行的运动，不需要预先定义接触序列，充分考虑机器人的动力学和运动学。为了规划双足在台阶、坡道和其他地形上的运动，我们提出了一个数学模型来近似光滑表面的地面几何形状。机器人与地面之间的刚性相互作用通过新的接触约束进行建模，将适用范围从平面和水平表面扩展到任意光滑表面。有效性证明了使用非线性规划规划运动在各种地形拓扑。我们还通过在成本函数和初始猜测中嵌入高级需求来探索动态轨迹生成。在非共面地形上进行了初步的可行性测试，包括仿真和真实机器人ErgoCub。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.