Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots

Ahmad Gazar, Majid Khadiv, Sébastien Kleff, Andrea Del Prete, Ludovic Righetti

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabilized through limited contact forces. Furthermore, disturbances arising from unmodelled contact interactions with the environment and model mismatches can hinder the quality of the planned trajectories leading to unsafe motions. In this work, we propose to use stochastic trajectory optimization for generating robust centroidal momentum trajectories to account for additive uncertainties on the model dynamics and parametric uncertainties on contact locations. Through an alternation between the robust centroidal and whole-body trajectory optimizations, we generate robust momentum trajectories while being consistent with the whole-body dynamics. We perform an extensive set of simulations subject to different uncertainties on a quadruped robot showing that our stochastic trajectory optimization problem reduces the amount of foot slippage for different gaits while achieving better performance over deterministic planning.

Original languageEnglish (US)
Title of host publicationRobotics Research
EditorsAude Billard, Tamim Asfour, Oussama Khatib
PublisherSpringer Nature
Number of pages16
ISBN (Print)9783031255540
StatePublished - 2023
Event18th International Symposium of Robotics Research, ISRR 2022 - Geneva, Switzerland
Duration: Sep 25 2022Sep 30 2022

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume27 SPAR
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264


Conference18th International Symposium of Robotics Research, ISRR 2022


  • Chance-constraints
  • Legged robots
  • Stochastic optimal control
  • Trajectory optimization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Engineering (miscellaneous)
  • Artificial Intelligence
  • Computer Science Applications
  • Applied Mathematics


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