The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Control-limited differential dynamic programming
Abstract
Trajectory optimizers are a powerful class of methods for generating goal-directed robot motion. Differential Dynamic Programming (DDP) is an indirect method which optimizes only over the unconstrained control-space and is therefore fast enough to allow real-time control of a full humanoid robot on modern computers. Although indirect methods automatically take into account state constraints, control limits pose a difficulty. This is particularly problematic when an expensive robot is strong enough to break itself. In this paper, we demonstrate that simple heuristics used to enforce limits (clamping and penalizing) are not efficient in general. We then propose a generalization of DDP which accommodates box inequality constraints on the controls, without significantly sacrificing convergence quality or computational effort. We apply our algorithm to three simulated problems, including the 36-DoF HRP-2 robot. A movie of our results can be found here goo.gl/eeiMnn.
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Cites
Boyd, S., & Vandenberghe, L. (2004) · doi:10.1017/cbo9780511804441 · Cited by 56,601
Learning Stable Nonlinear Dynamical Systems With Gaussian Mixture Models
Khansari-Zadeh, S. M., & Billard, A. (2011) · IEEE Transactions on Robotics · doi:10.1109/tro.2011.2159412 · Cited by 771 · cited 1×
“Ad-hoc task trajectories can be learned [9], which enlarge the convergence basin with a-priori knowledge and provide a consistent way to define complex task trajectories, but this is difficult to generalize to new situations.”
Background
Cited by
Graph networks as learnable physics engines for inference and control
Sanchez-Gonzalez, A., Heess, N., Springenberg, J. T., Merel, J., Riedmiller, M., Hadsell, R., & Battaglia, P. (2018) · arXiv · doi:10.48550/arxiv.1806.01242 · Cited by 387
Kadi, H. A., & Terzić, K. (2023) · Sensors · doi:10.3390/s23052389 · Cited by 27
“This appears in the early examples of RL methods, also known as planning/trajectory optimisation (Section 5.3) in classical robotics [53,54].”
MethodInfluential
Metadata
- Authors
- Tassa, Y., Mansard, N., & Todorov, E.
- Venue
- 2014 IEEE International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2014-05
- Pages
- 1168-1175
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W1964946446
- Cited by
- 440
- References
- 2
- FWCI
- 40.48
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Tassa, Y., Mansard, N., & Todorov, E. (2014). Control-limited differential dynamic programming. 2014 IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2014.6907001
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