Title:
Kinematic Chain Monoids for Real-Time Kinodynamic Trajectory Optimization in Legged Robots
Kinematic Chain Monoids for Real-Time Kinodynamic Trajectory Optimization in Legged Robots
Authors
Barladeanu, Dan
Authors
Advisors
Dellaert, Frank
Advisors
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Abstract
Dynamics Factor Graph (DFG) is a graphical framework to solve dynamics problems
and kinodynamic motion planning problems with full consideration of whole-body dynam-
ics and contacts. In this thesis I will present DFG and explain the different variables and
constraints being used in legged robot trajectory optimization using DFG. In chapter 2 I
will explain DFG’s and the challenges working with them as a whole body motion plan-
ning framework. In chapter 3 I will present a novel formulation of kinematic chains as
monoids, which provides a concise representation of the kinodynamics of the limbs of a
walking robot. The proposed approach enables easier and more efficient constraints in
trajectory planning optimization for robots assuming massless legs. I will introduce the
constraints required to integrate kinematic chains in a factor-graph and demonstrate the
applicability of these constraints in the Unitree A1 quadruped. In chapter 4 I will present
simulation results done with chain dynamic factor graphs and compare with dynamic factor
graphs and other related work done in the field.
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Date Issued
2023-05-01
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Thesis