Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
This work addresses robustness in robotic control, but it is incremental as it builds on existing trajectory optimization frameworks.
The paper tackles the problem of optimizing dynamic trajectories for robustness to disturbances and uncertain payloads, achieving highly robust dynamic solutions for a quadruped robot with a manipulator.
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.