Proximal and Sparse Resolution of Constrained Dynamic Equations

Abstract

Control of robots with kinematic constraints like loop-closure constraints or interactions with the environment requires solving the underlying constrained dynamics equations of motion. Several approaches have been proposed so far in the literature to solve these constrained optimization problems, for instance by either taking advantage in part of the sparsity of the kinematic tree or by considering an explicit formulation of the constraints in the problem resolution. Yet, not all the constraints allow an explicit formulation and in general, approaches of the state of the art suffer from singularity issues, especially in the context of redundant or singular constraints. In this paper, we propose a unified approach to solve forward dynamics equations involving constraints in an efficient, generic and robust manner.

Topics & Concepts