Several Approaches for the Optimization of Arm Motions of Humanoids
Sprache des Titels:
Proceedings of the Joint Austrian Computer Vision and Robotics Workshop (ACVRW'20)
This paper presents several point-to-pointoptimization tasks of humanoid arm motions. The focus lies on optimization of elementary arm motions. Several cost functions for optimization tasks are defined. Tasks in respect of time optimal control, minimizing joint loads and maximizing the vertical torque of the torso are presented. The dynamic optimal control problem is transformed into a static parametric optimization problem by using B-spline curves. The optimization is carried out with the Sequential Quadratic Programming algorithm.