Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
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Date
2019
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings.
A hard-contact model is assumed, and the unilateral constraints are imposed in the form of complementarity conditions.
Newton's impact law is adopted for enhanced physical correctness.
The optimal control problem is formulated as a multi-staged program through a multiple-shooting scheme. This problem structure is exploited within the FORCES Pro framework to retrieve optimal motion plans, contact sequences and control inputs with increased computational efficiency.
We investigate our method on a variety of dynamic object manipulation tasks, performed by a six degrees of freedom robot. The dynamic feasibility of the optimal trajectories, as well as the repeatability and accuracy of the task-satisfaction are verified through simulations and real hardware experiments on one of the manipulation problems.
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Publication status
published
Editor
Book title
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Journal / series
Volume
Pages / Article No.
6814 - 6821
Publisher
IEEE
Event
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Optimal Control; Dynamic Manipulation
Organisational unit
09570 - Hutter, Marco / Hutter, Marco
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
Notes
Conference lecture held on November 7, 2019
Funding
780883 - subTerranean Haptic INvestiGator (EC)
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