Task-Space Trajectories via Cubic Spline Optimization

We consider the task of planning smooth trajecto- ries for robot motion. In this paper we make two contributions. First we present a method for cubic spline optimization; this technique lets us simultaneously plan optimal task-space tra- jectories and fit cubic splines to the trajectories, while obeying many of the same constraints imposed by a typical motion planning algorithm. The method uses convex optimization techniques, and is therefore very fast and suitable for real-time re-planning and control. Second, we apply this approach to the tasks of planning foot and body trajectory for a quadruped robot, the “LittleDog,” and show that the proposed approach improves over previous work on this robot. Authors: J. Zico Kolter, Andrew Y. Ng (2009)
AUTHORED BY
J. Zico Kolter
Andrew Y. Ng

Abstract

We consider the task of planning smooth trajecto- ries for robot motion. In this paper we make two contributions. First we present a method for cubic spline optimization; this technique lets us simultaneously plan optimal task-space tra- jectories and fit cubic splines to the trajectories, while obeying many of the same constraints imposed by a typical motion planning algorithm. The method uses convex optimization techniques, and is therefore very fast and suitable for real-time re-planning and control. Second, we apply this approach to the tasks of planning foot and body trajectory for a quadruped robot, the “LittleDog,” and show that the proposed approach improves over previous work on this robot.

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