{"id":{"repo_id":"gatech","oai_identifier":"oai:repository.gatech.edu:1853/72030"},"canonical_url":"https://search.dev.ndltd.org/etd/gatech/oai:repository.gatech.edu:1853/72030","repository":{"repo_id":"gatech","name":"Georgia Tech","base_url":"https://repository.gatech.edu/server/oai/request"},"display":{"title":"Kinematic Chain Monoids for Real-Time Kinodynamic Trajectory Optimization in Legged Robots","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.","abstract_html":"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.","abstract_has_math":false,"creators":["Barladeanu, Dan"],"institution":"Georgia Institute of Technology","degree_name":null,"degree_level":"Masters","degree_discipline":null,"degree_department":"Computer Science","school":null,"contributors":[],"advisors":["Dellaert, Frank"],"committee_chairs":[],"committee_members":["Hutchinson, Seth","Zhao, Ye"],"year":2023,"date_issued":"2023-05-01","date_published":"2023-05-01","updated_at":"2026-07-27T19:51:32Z","subjects":["Legged Robots","Trajectory Optimization","Factor Graphs","Robot Dynamics"],"languages":["en_US"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/1853/72030","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Dellaert, Frank"]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Hutchinson, Seth","Zhao, Ye"]},{"key":"dc:contributor.department","label":"Department","values":["Computer Science"]},{"key":"dc:creator","label":"Author","values":["Barladeanu, Dan"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2023-05-18T17:52:54Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2023-05-18T17:52:54Z"]},{"key":"dc:date.issued","label":"Date","values":["2023-05-01"]},{"key":"dc:publisher","label":"Institution","values":["Georgia Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Text"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Masters"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Legged Robots","Trajectory Optimization","Factor Graphs","Robot Dynamics"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en_US"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/1853/72030"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["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. 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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. 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