Conference item
Rapid convex optimization of centroidal dynamics using block coordinate descent
- Abstract:
-
In this paper we explore the use of block coordinate descent (BCD) to optimize the centroidal momentum dynamics for dynamically consistent multi-contact behaviors. The centroidal dynamics have recently received a large amount of attention in order to create physically realizable motions for robots with hands and feet while being computationally more tractable than full rigid body dynamics models. Our contribution lies in exploiting the structure of the dynamics in order to simplify the origin...
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- Publication status:
- Published
- Peer review status:
- Peer reviewed
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Access Document
- Files:
-
-
(Accepted manuscript, pdf, 646.3KB)
-
- Publisher copy:
- 10.1109/IROS51168.2021.9635856
Authors
Bibliographic Details
- Publisher:
- IEEE Publisher's website
- Host title:
- Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)
- Pages:
- 1658-1665
- Publication date:
- 2021-12-16
- Event title:
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)
- Event location:
- Prague, Czech Republic
- Event website:
- https://www.ieee-ras.org/component/rseventspro/event/2021-iros-2021
- Event start date:
- 2021-09-27
- Event end date:
- 2021-10-01
- DOI:
- EISSN:
-
2153-0866
- ISSN:
-
2153-0858
- EISBN:
- 9781665417143
- ISBN:
- 9781665417150
Item Description
- Language:
- English
- Keywords:
- Pubs id:
-
1240204
- Local pid:
- pubs:1240204
- Deposit date:
- 2023-01-23
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2021
- Rights statement:
- © 2021 IEEE
- Notes:
- This paper was presented a the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), 27th September - 1st October 2021, Prague, Czech Republic. This is the accepted manuscript version of the article. The final version is available online from IEEE at: https://doi.org/10.1109/IROS51168.2021.9635856
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