Whole-Body Trajectory Optimization for Humanoid Falling

Show full item record

Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/44345

Title: Whole-Body Trajectory Optimization for Humanoid Falling
Author: Wang, Jiuguang ; Whitman, Eric C. ; Stilman, Mike
Abstract: We present an optimization-based control strategy for generating whole-body trajectories for humanoid robots in order to minimize damage due to falling. In this work, the falling problem is formulated using optimal control where we seek to minimize the impulse on impact with the ground, subject to the full-body dynamics and constraints of the robot in joint space. We extend previous work in this domain by numerically approximating the resulting optimal control, generating open-loop trajectories by solving an equivalent nonlinear programming problem. Compared to previous results in falling optimization, the proposed framework is extendable to more complex dynamic models and generate trajectories that are guaranteed to be physically feasible. These results are implemented in simulation using models of dynamically balancing humanoid robots in several experimental scenarios.
Description: ©2012 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or distribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. Presented at the 2012 American Control Conference (ACC’12), 27-29 June 2012, Montreal, Canada.
Type: Proceedings
URI: http://hdl.handle.net/1853/44345
Citation: Wang, J., Whitman, E., & Stilman, M. (2012). “Whole-Body Trajectory Optimization for Humanoid Falling”. Proceedings of the American Control Conference (ACC’12), June 2012.
Date: 2012-06
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Carnegie-Mellon University
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Humanoid robot
Optimal falling strategy
Pseudospectral optimal control

All materials in SMARTech are protected under U.S. Copyright Law and all rights are reserved, unless otherwise specifically indicated on or in the materials.

Files in this item

Files Size Format View
WangACC12-humanoid-falling.pdf 405.4Kb PDF View/ Open

This item appears in the following Collection(s)

Show full item record