On Time Optimization of Centroidal Momentum Dynamics

Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti

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


Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization approach difficult and timing is usually kept fixed in most trajectory optimization techniques to not introduce additional non convexities to the problem. But this can limit the versatility of the algorithms. In our previous work, we proposed a convex relaxation of the problem that allowed to efficiently compute momentum trajectories and contact forces. However, our approach could not minimize a desired angular momentum objective which seriously limited its applicability. Noticing that the non-convexity introduced by the time variables is of similar nature as the centroidal dynamics one, we propose two convex relaxations to the problem based on trust regions and soft constraints. The resulting approaches can compute time-optimized dynamically consistent trajectories sufficiently fast to make the approach realtime capable. The performance of the algorithm is demonstrated in several multi-contact scenarios for a humanoid robot. In particular, we show that the proposed convex relaxation of the original problem finds solutions that are consistent with the original non-convex problem and illustrate how timing optimization allows to find motion plans that would be difficult to plan with fixed timing †Implementation details and demos can be found in the source code available at https://git-amd.tuebingen.mpg.de/bponton/timeoptimization.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781538630815
StatePublished - Sep 10 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


Dive into the research topics of 'On Time Optimization of Centroidal Momentum Dynamics'. Together they form a unique fingerprint.

Cite this