Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabilized through limited contact forces. Furthermore, disturbances arising from unmodelled contact interactions with the environment and model mismatches can hinder the quality of the planned trajectories leading to unsafe motions. In this work, we propose to use stochastic trajectory optimization for generating robust centroidal momentum trajectories to account for additive uncertainties on the model dynamics and parametric uncertainties on contact locations. Through an alternation between the robust centroidal and whole-body trajectory optimizations, we generate robust momentum trajectories while being consistent with the whole-body dynamics. We perform an extensive set of simulations subject to different uncertainties on a quadruped robot showing that our stochastic trajectory optimization problem reduces the amount of foot slippage for different gaits while achieving better performance over deterministic planning.


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    Title :

    Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    The International Symposium of Robotics Research ; 2022 ; Geneva, Switzerland September 25, 2022 - September 30, 2022


    Published in:

    Robotics Research ; Chapter : 29 ; 420-435


    Publication date :

    2023-03-08


    Size :

    16 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English






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