Academic Journal
Horizon: A Trajectory Optimization Framework for Robotic Systems
| العنوان: | Horizon: A Trajectory Optimization Framework for Robotic Systems |
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| المؤلفون: | Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman |
| المصدر: | Frontiers in Robotics and AI, Vol 9 (2022) |
| بيانات النشر: | Frontiers Media S.A., 2022. |
| سنة النشر: | 2022 |
| المجموعة: | LCC:Mechanical engineering and machinery LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | trajectory optimization, legged robotics, non-linear programming (NLP), locomotion, motion planning, Mechanical engineering and machinery, TJ1-1570, Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | This paper presents Horizon, an open-source framework for trajectory optimization tailored to robotic systems that implements a set of tools to simplify the process of dynamic motion generation. Its user-friendly Python-based API allows designing the most complex robot motions using a simple and intuitive syntax. At the same time, the modular structure of Horizon allows for easy customization on many levels, providing several recipes to handle fixed and floating-base systems, contact switching, variable time nodes, multiple transcriptions, integrators and solvers to guarantee flexibility towards diverse tasks. The proposed framework relies on direct simultaneous methods to transcribe the optimal problem into a nonlinear programming problem that can be solved by state-of-the-art solvers. In particular, it provides several off-the-shelf solvers, as well as two custom-implemented solvers, i.e. GN-SQP and Iterative Linear-Quadratic Regulator. Solutions of optimized problems can be stored for warm-starting, and re-sampled at a different frequency while enforcing dynamic feasibility. The proposed framework is validated through a number of use-case scenarios involving several robotic platforms. Finally, an in-depth analysis of a specific case study is carried out, where a highly dynamic motion (i.e., a twisting jump using the quadruped robot Spot® from BostonDynamics1) is generated, in order to highlight the main features of the framework and demonstrate its capabilities. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2296-9144 44638248 |
| Relation: | https://www.frontiersin.org/articles/10.3389/frobt.2022.899025/full; https://doaj.org/toc/2296-9144 |
| DOI: | 10.3389/frobt.2022.899025 |
| URL الوصول: | https://doaj.org/article/4171d7e90d1b446382482adcdbffe37b |
| رقم الانضمام: | edsdoj.4171d7e90d1b446382482adcdbffe37b |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 22969144 44638248 |
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| DOI: | 10.3389/frobt.2022.899025 |