{"title":"基于接触序列最近邻搜索的快速多接触运动规划","authors":"Y. Tazaki","doi":"10.1109/Humanoids53995.2022.10000158","DOIUrl":null,"url":null,"abstract":"This paper presents a computationally efficient method for planning dynamic multi-contact motion. A low-dimensional dynamical model of a robot equipped with multiple contact points is developed, and a motion planning problem is formulated as a optimal control problem with continuous and discrete variables. An extension to the differential dynamic programming (DDP) framework enables efficient computation of optimal cost for a large number of locally modified contact sequences. Based on this finding, a novel algorithm for multi-contact motion planning is developed, and its performance is evaluated in simulations.","PeriodicalId":180816,"journal":{"name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Fast Multi-Contact Motion Planning Based on Best-Neighbor Search of Contact Sequences\",\"authors\":\"Y. Tazaki\",\"doi\":\"10.1109/Humanoids53995.2022.10000158\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a computationally efficient method for planning dynamic multi-contact motion. A low-dimensional dynamical model of a robot equipped with multiple contact points is developed, and a motion planning problem is formulated as a optimal control problem with continuous and discrete variables. An extension to the differential dynamic programming (DDP) framework enables efficient computation of optimal cost for a large number of locally modified contact sequences. Based on this finding, a novel algorithm for multi-contact motion planning is developed, and its performance is evaluated in simulations.\",\"PeriodicalId\":180816,\"journal\":{\"name\":\"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)\",\"volume\":\"12 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-11-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/Humanoids53995.2022.10000158\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/Humanoids53995.2022.10000158","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Fast Multi-Contact Motion Planning Based on Best-Neighbor Search of Contact Sequences
This paper presents a computationally efficient method for planning dynamic multi-contact motion. A low-dimensional dynamical model of a robot equipped with multiple contact points is developed, and a motion planning problem is formulated as a optimal control problem with continuous and discrete variables. An extension to the differential dynamic programming (DDP) framework enables efficient computation of optimal cost for a large number of locally modified contact sequences. Based on this finding, a novel algorithm for multi-contact motion planning is developed, and its performance is evaluated in simulations.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
