Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity Constraints
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as failure to successfully make and maintain contact can be cata...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-01-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.785925/full |
| _version_ | 1819099049014329344 |
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| author | Luke Drnach Luke Drnach John Z. Zhang John Z. Zhang Ye Zhao Ye Zhao |
| author_facet | Luke Drnach Luke Drnach John Z. Zhang John Z. Zhang Ye Zhao Ye Zhao |
| author_sort | Luke Drnach |
| collection | DOAJ |
| description | As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as failure to successfully make and maintain contact can be catastrophic. Here, we model uncertainty in terrain geometry and friction characteristics, and combine a risk-sensitive objective with chance constraints to provide a trade-off between robustness to uncertainty and constraint satisfaction with an arbitrarily high feasibility guarantee. We evaluate our approach in two simple examples: a push-block system for benchmarking and a single-legged hopper. We demonstrate that chance constraints alone produce trajectories similar to those produced using strict complementarity constraints; however, when equipped with a robust objective, we show the chance constraints can mediate a trade-off between robustness to uncertainty and strict constraint satisfaction. Thus, our study may represent an important step towards reasoning about contact uncertainty in motion planning. |
| first_indexed | 2024-12-22T00:40:42Z |
| format | Article |
| id | doaj.art-49528b4785cf4234a0544b3d3d9bd1a5 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-22T00:40:42Z |
| publishDate | 2022-01-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-49528b4785cf4234a0544b3d3d9bd1a52022-12-21T18:44:42ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442022-01-01810.3389/frobt.2021.785925785925Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity ConstraintsLuke Drnach 0Luke Drnach 1John Z. Zhang 2John Z. Zhang 3Ye Zhao4Ye Zhao5Laboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology, Atlanta, GA, United StatesSchool of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, United StatesLaboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology, Atlanta, GA, United StatesGeorge W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, United StatesLaboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology, Atlanta, GA, United StatesGeorge W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, United StatesAs robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as failure to successfully make and maintain contact can be catastrophic. Here, we model uncertainty in terrain geometry and friction characteristics, and combine a risk-sensitive objective with chance constraints to provide a trade-off between robustness to uncertainty and constraint satisfaction with an arbitrarily high feasibility guarantee. We evaluate our approach in two simple examples: a push-block system for benchmarking and a single-legged hopper. We demonstrate that chance constraints alone produce trajectories similar to those produced using strict complementarity constraints; however, when equipped with a robust objective, we show the chance constraints can mediate a trade-off between robustness to uncertainty and strict constraint satisfaction. Thus, our study may represent an important step towards reasoning about contact uncertainty in motion planning.https://www.frontiersin.org/articles/10.3389/frobt.2021.785925/fulltrajectory optimizationchance constraintsrobust motion planningplanning with contactcomplementarity constraints |
| spellingShingle | Luke Drnach Luke Drnach John Z. Zhang John Z. Zhang Ye Zhao Ye Zhao Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity Constraints Frontiers in Robotics and AI trajectory optimization chance constraints robust motion planning planning with contact complementarity constraints |
| title | Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity Constraints |
| title_full | Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity Constraints |
| title_fullStr | Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity Constraints |
| title_full_unstemmed | Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity Constraints |
| title_short | Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity Constraints |
| title_sort | mediating between contact feasibility and robustness of trajectory optimization through chance complementarity constraints |
| topic | trajectory optimization chance constraints robust motion planning planning with contact complementarity constraints |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2021.785925/full |
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