Kinematic Chain Monoids for Real-Time Kinodynamic Trajectory Optimization in Legged Robots

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.

Level thesis:degree_level

Masters

Department dc:contributor.department

Computer Science

Grantor dc:publisher

Georgia Institute of Technology

Year dc:date.issued

2023

Author dc:creator

• Barladeanu, Dan

Advisor dc:contributor.advisor

• Dellaert, Frank

Committee members dc:contributor.committeemember

• Hutchinson, Seth
• Zhao, Ye

• Legged Robots
• Trajectory Optimization
• Factor Graphs
• Robot Dynamics

Language dc:language.iso

en_US

Handle dc:identifier.uri

https://hdl.handle.net/1853/72030

OAI identifier oai:identifier

oai:repository.gatech.edu:1853/72030