Safe trajectory optimization for whole-body motion of humanoids

Valerio Modugno (1) , Gabriele Nava (2) , Daniele Pucci (2) , Francesco Nori (2) , Giuseppe Oriolo (1) , Serena Ivaldi (3)

1 Dipartimento di Informatica e Sistemistica [Rome]
2 IIT - Istituto Italiano di Tecnologia
3 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment

Multi-task prioritized controllers generate complex behaviors for humanoids that concurrently satisfy several tasks and constraints. In our previous work we automatically learned the task priorities that maximized the robot performance in whole-body reaching tasks, ensuring that the optimized priorities were leading to safe behaviors. Here, we take the opposite approach: we optimize the task trajectories for whole-body balancing tasks with switching contacts, ensuring that the optimized movements are safe and never violate any of the robot and problem constraints. We use (1+1)-CMA-ES with Constrained Covariance Adaptation as a constrained black box stochastic optimization algorithm, with an instance of (1+1)-CMA-ES for bootstrapping the search. We apply our learning framework to the prioritized whole-body torque controller of iCub, to optimize the robot's movement for standing up from a chair.

Domaines: Robotique [cs.RO]

Valerio Modugno, Gabriele Nava, Daniele Pucci, Francesco Nori, Giuseppe Oriolo, et al.. Safe trajectory optimization for whole-body motion of humanoids. IEEE-RAS International Conference on Humanoid Robots, Nov 2017, Birmingham, United Kingdom. ⟨hal-01613646⟩