Motion Planning for Multi-legged Robots using Levenberg-Marquardt Optimization with Bezier Parametrization

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00372382" target="_blank" >RIV/68407700:21230/23:00372382 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ECMR59166.2023.10256284" target="_blank" >https://doi.org/10.1109/ECMR59166.2023.10256284</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ECMR59166.2023.10256284" target="_blank" >10.1109/ECMR59166.2023.10256284</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Motion Planning for Multi-legged Robots using Levenberg-Marquardt Optimization with Bezier Parametrization

Popis výsledku v původním jazyce

This paper presents a novel formulation of motion planning for multi-legged walking robots. In the proposed method, a single-step motion is formulated as a nonlinear equation problem (NLE): including kinematic, stability, and collision constraints. For the given start and goal configurations, the robot's path is parametrized as Bezier curve in the configuration space. The resulting NLE is solved using Levenberg-Marquardt optimization implemented using a sparse matrix solver. We propose handling the trigonometric kinematic constraints with the polynomial path parametrization. A relaxation of the constraint is used while guaranteeing a desired tolerance along the planned path. Although the proposed method does not explicitly optimize any criterion, it produces high-quality paths. The method is deployed in transforming a sequence of discrete configurations produced by a step sequence planner into a valid path for a multi-legged walking robot in challenging planning scenarios where a regular locomotion gait cannot be used because of sparse footholds.

Název v anglickém jazyce

Motion Planning for Multi-legged Robots using Levenberg-Marquardt Optimization with Bezier Parametrization

Popis výsledku anglicky

This paper presents a novel formulation of motion planning for multi-legged walking robots. In the proposed method, a single-step motion is formulated as a nonlinear equation problem (NLE): including kinematic, stability, and collision constraints. For the given start and goal configurations, the robot's path is parametrized as Bezier curve in the configuration space. The resulting NLE is solved using Levenberg-Marquardt optimization implemented using a sparse matrix solver. We propose handling the trigonometric kinematic constraints with the polynomial path parametrization. A relaxation of the constraint is used while guaranteeing a desired tolerance along the planned path. Although the proposed method does not explicitly optimize any criterion, it produces high-quality paths. The method is deployed in transforming a sequence of discrete configurations produced by a step sequence planner into a valid path for a multi-legged walking robot in challenging planning scenarios where a regular locomotion gait cannot be used because of sparse footholds.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GC21-33041J" target="_blank" >GC21-33041J: Učení plánování pohybu ve složitých úlohách</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of 11th European Conference on Mobile Robots

ISBN

979-8-3503-0704-7

ISSN

2639-7919

e-ISSN

—

Počet stran výsledku

5

Strana od-do

344-348

Název nakladatele

Institute of Electrical and Electronics Engineers

Místo vydání

Brighton

Místo konání akce

Coimbra

Datum konání akce

4. 9. 2023

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001082260500051