Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization
Abstract: We present an online trajectory optimization method and software platform applicable to complex humanoid robots performing challenging tasks such as getting up from an arbitrary pose on the ground and recovering from large disturbances using dexterous acrobatic maneuvers. The resulting behaviors, illustrated in the attached video, are computed only 7x slower than real time, on a standard PC. The video also shows results on the acrobot problem, planar swimming and one-legged hopping. These simpler problems can already be solved in real time, without pre-computing anything
Video of their experiments: https://youtu.be/anIsw2-Lbco
Paper: https://homes.cs.washington.edu/~todorov/papers/TassaIROS12.pdf
#model_predictive_control #optimal_control #robotics
Abstract: We present an online trajectory optimization method and software platform applicable to complex humanoid robots performing challenging tasks such as getting up from an arbitrary pose on the ground and recovering from large disturbances using dexterous acrobatic maneuvers. The resulting behaviors, illustrated in the attached video, are computed only 7x slower than real time, on a standard PC. The video also shows results on the acrobot problem, planar swimming and one-legged hopping. These simpler problems can already be solved in real time, without pre-computing anything
Video of their experiments: https://youtu.be/anIsw2-Lbco
Paper: https://homes.cs.washington.edu/~todorov/papers/TassaIROS12.pdf
#model_predictive_control #optimal_control #robotics
YouTube
Model Predictive Control with iLQG and MuJoCo
Tassa, Erez and Todorov, "Synthesis and stabilization of complex behaviors through online trajectory optimization," IROS 2012.