Contact-implicit trajectory optimization for humanoid robots extended to uneven terrain
What happened
Roberto Mauceri and other authors published a contact-implicit whole-body trajectory optimization framework that enables humanoid robots to generate dynamic motion trajectories on parameterizable complex terrain such as steps and slopes without pre-specifying contact sequences. The method approximates ground geometry with smooth surfaces and, through new contact constraints, extends rigid-body interaction from planes to arbitrary smooth surfaces, using nonlinear programming to plan motions across multiple terrain topologies. The authors state that preliminary feasibility tests on non-coplanar terrain have been completed in simulation and on the real ErgoCub robot, but the report positions this only as preliminary feasibility validation and does not provide broader performance conclusions.
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- arXiv cs.ROContact-Implicit Whole-Body Trajectory Optimization for Humanoid Robots on Parameterizable Uneven Terrain
This paper proposes a contact-implicit whole-body optimization framework for humanoid robots to generate dynamic motion trajectories on parameterizable complex terrains such as steps and ramps, without requiring a predefined contact sequence. The method approximates ground geometry with smooth surfaces and extends rigid-body interaction from planar surfaces to arbitrary smooth surfaces through new contact constraints, using nonlinear programming to plan motions across various terrain topologies. The authors conducted preliminary feasibility tests on non-coplanar terrains in simulation and on the real robot ErgoCub.
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