论文标题
优化动态轨迹，以使用多重投影来鲁棒性鲁棒性
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
论文作者
论文摘要
本文着重于鲁率力量和不确定有效载荷的鲁棒性。我们提出了一种新颖的配方，以优化动态轨迹的鲁棒性。对于最先进的求解器而言，该公式对非线性编程问题的直接转录无法处理，但是可以通过利用机器人的运动学引起的结构来克服这种并发症。提出的非平凡转录允许轨迹优化框架收敛到高度鲁棒的动态解决方案。我们使用配备了操纵器的四倍机器人证明了方法的结果。
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to converge to highly robust dynamic solutions. We demonstrate the results of our approach using a quadruped robot equipped with a manipulator.
