@inproceedings{b042f76097fa452db761810c658fe6f0,
title = "Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots",
abstract = "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.",
keywords = "Chance-constraints, Legged robots, Stochastic optimal control, Trajectory optimization",
author = "Ahmad Gazar and Majid Khadiv and S{\'e}bastien Kleff and {Del Prete}, Andrea and Ludovic Righetti",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 18th International Symposium of Robotics Research, ISRR 2022 ; Conference date: 25-09-2022 Through 30-09-2022",
year = "2023",
doi = "10.1007/978-3-031-25555-7_29",
language = "English (US)",
isbn = "9783031255540",
series = "Springer Proceedings in Advanced Robotics",
publisher = "Springer Nature",
pages = "420--435",
editor = "Aude Billard and Tamim Asfour and Oussama Khatib",
booktitle = "Robotics Research",
address = "United States",
}