Trajectory optimization for full|body movements with complex contacts

Trajectory Optimization for Full-Body Movements with Complex ...

These objectives are applied to short spacetime windows which can be composed to express goals over an entire animation. Specific contact locations needed to ...

Trajectory optimization for full-body movements with complex contacts

This paper presents the first method for full-body trajectory optimization of physics-based human motion that does not rely on motion capture, ...

Trajectory Optimization for Full-Body Movements with Complex ...

This paper presents the first method for full-body trajectory optimization of physics-based human motion that does not rely on motion capture, ...

Trajectory Optimization for Full-Body Movements with Complex ...

Specific contact locations needed to achieve objectives are not required by our method. We show that the method can synthesize many different kinds of movement, ...

Safe trajectory optimization for whole-body motion of humanoids

Abstract: Multi-task prioritized controllers generate complex behaviors for humanoids that concurrently satisfy several tasks and constraints.

Whole-body Trajectory Optimization for Non-periodic Dynamic ...

systems, switching contacts, non-periodic movements, quadruped, posture recovery, whole-body trajectory. I. INTRODUCTION. Modern robotic systems come in ...

Safe Trajectory Optimization for Whole-Body Motion of Humanoids

Here, we take the opposite approach: we optimize the task trajectories for whole-body balancing tasks with switching contacts, ensuring that the optimized ...

Tuning-Free Contact-Implicit Trajectory Optimization

The virtual forces are exploited to discover contacts and minimized throughout the optimization. Consequently, physically-feasible motions are.

Trajectory Optimization for Full-Body Movements with Complex ...

Trajectory Optimization for Full-Body Movements with Complex Contacts · Comments4.

Direct Trajectory Optimization of Rigid Body Dynamical Systems ...

Motivated by the formulation of multi-contact dynamics as a Linear Complementarity Problem (LCP) for forward simulation, the proposed algorithm leverages ...

Efficient whole-body trajectory optimization using contact constraint ...

In this work we present a Trajectory Optimization framework for whole-body motion planning for floating base robots. We demonstrate how the proposed ...

Trajectory Optimization Through Contacts and Automatic Gait ...

In this work we present a Trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed ...

Contact-Implicit Trajectory Optimization using Variational Integrators

tion accuracy have also been demonstrated on a full-body model of a humanoid (Posa et al. 2016). Much of the recent work on contact-implicit methods has.

(PDF) Contact-Implicit Trajectory Optimization Using an Analytically ...

By computing trotting and jumping motions for a quadruped robot, the proposed optimization demonstrates the versatility for multicontact motion planning on ...

Trajectory optimization for domains with contacts using inverse ...

This makes it difficult to apply traditional gait design approaches (such as ZMP) to bipedal running. We optimize the motion pattern of a simulated 3D humanoid.

A convex, smooth and invertible contact model for trajectory ...

We implemented the proposed contact solver in our new physics engine (MuJoCo). A full Newton step of trajectory optimization for a 3D walking gait takes ...

Trajectory optimization with implicit hard contacts

the OC problem while respecting the full body dynamics with ... Kheddar, “Generation of whole-body optimal dynamic multi-contact motions,” The Int ...

A Global Quasi-Dynamic Model for Contact-Trajectory Optimization

Whole-body motion planning with centroidal dynamics and full kinematics. In Humanoids. IEEE, 2014. [7] Robin Deits and Russ Tedrake ...

[PDF] Trajectory Optimization Through Contacts and Automatic Gait ...

This letter presents a trajectory optimization framework for whole-body motion planning through contacts, and demonstrates how the proposed approach can be ...

Single Sequential Trajectory Optimization with Centroidal Dynamics ...

This article proposes a single sequential kino-dynamic trajectory optimization method to solve the whole-body motion ... trajectories for more complex motion ...