Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot
Abstract
:1. Introduction
- (1)
- A single sequential kino-dynamic trajectory optimization framework is proposed to solve the optimal jumping motion problem. The whole-body trajectory is effectively generated by a single sequential optimization, which is an efficient solution.
- (2)
- This optimization framework can generate vertical jumping motions with launching and flight phases, which are essential for highly dynamic motions.
2. Single Sequential Kino-Dynamic Trajectory Optimization
2.1. Centroidal Dynamics Optimization
2.2. Whole-Body Kinematics Optimization
3. Simulation and Experimental Results
3.1. Validation Setup
3.2. Numerical Optimization
3.3. Simulations
3.4. Experiments
4. Conclusions
Supplementary Materials
Author Contributions
Funding
Institutional Review Board Statement
Data Availability Statement
Conflicts of Interest
References
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Main Parameter | Value |
---|---|
Knot points, N | 20 |
Motion duration, T | 1 s |
Contact sequence of , , … and | [] |
Optimality tolerance | <1 × 10−5 |
diag (0.001, 0.001, 0.001, …, 0.001, 0.001, 0.001) | |
diag (40, 40, 40) | |
diag (30, 10, 10, 10, 50, 10) | |
diag (0.01, 0.01, 0.01, …, 0.01, 0.01, 0.01) | |
diag (0.0001, 0.0001, 0.0001, …, 0.0001) | |
diag (1, 1, 1, 1, 1, 1) | |
diag (0.01, 0.01, 0.01) | |
diag (0.02, 0.02, 0.02, …, 0.02, 0.02, 0.02) | |
diag (0.01, 0, 0.001, …, 0.01, 0, 0.001) |
Optimization Project | Centroidal Dynamics | Whole-Body Kinematics |
---|---|---|
Number of variables | 720 | 1200 |
Duration of motion | 1 s | 1 s |
Number of equality constraints | 1036 | 720 |
Number of inequality constraints | 3102 | 4250 |
Solving time | 0.230 s | 3.2 s |
Number of iterations | 12 | 35 |
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Liu, Y.; Chen, X.; Yu, Z.; Qi, H.; Yi, C. Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot. Biomimetics 2024, 9, 274. https://doi.org/10.3390/biomimetics9050274
Liu Y, Chen X, Yu Z, Qi H, Yi C. Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot. Biomimetics. 2024; 9(5):274. https://doi.org/10.3390/biomimetics9050274
Chicago/Turabian StyleLiu, Yaliang, Xuechao Chen, Zhangguo Yu, Haoxiang Qi, and Chuanku Yi. 2024. "Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot" Biomimetics 9, no. 5: 274. https://doi.org/10.3390/biomimetics9050274