Corpus ID: 211678126

Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

@article{Ferrolho2020OptimizingDT,
  title={Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections},
  author={Henrique Ferrolho and Wolfgang Merkt and V. Ivan and W. Wolfslag and S. Vijayakumar},
  journal={ArXiv},
  year={2020},
  volume={abs/2003.00609}
}
  • Henrique Ferrolho, Wolfgang Merkt, +2 authors S. Vijayakumar
  • Published 2020
  • Computer Science, Engineering
  • ArXiv
  • This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to… CONTINUE READING

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