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Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion

S. Dafarra, G. Romualdi and D. Pucci "Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion" in 2022 IEEE Transactions on Robotics (T-RO)

Dynamic.Complementarity.Conditions.and.Whole-Body.Trajectory.Optimization.for.Humanoid.Robot.Locomotion.mp4
2022 IEEE Transactions on Robotics (T-RO)

Reproducing the experiments

We support running the experiments via the provided Docker image.

  1. Pull the docker image: 
    docker pull ghcr.io/ami-iit/dcc-planner-docker:latest
  2. Launch the container: 
    xhost +
docker run -it --rm  \
           --device=/dev/dri:/dev/dri \
           --user user \
           --env="DISPLAY=$DISPLAY"  \
           --net=host \
           ghcr.io/ami-iit/dcc-planner-docker:latest
  3. The application will start automatically

The videos and the data from the experiments will be saved in the folder ../SavedVideos.

It is possible to run tests with different parameters by running the following command

OMP_NUM_THREADS=1 cpp_ws/build/dynamical-planner/bin/SolverForComparisonsUnitTest [options]

with [options] being:

  -s, --solver                                Linear solver to use with ipopt (string [=mumps])
  -c, --complementarity                       Type of complementairity condition (string [=dynamical])
  -v, --velocity                              Linear walking velocity (d [=0.05])
      --normalForceDissipationRatio           Normal Force Dissipation Ratio (one of the two parameters of the hyperbolic complementarity method). (d [=250])
      --normalForceHyperbolicSecantScaling    Normal Force Hyperbolic Secant Scaling (one of the two parameters of the hyperbolic complementarity method). (d [=500])
      --complementarityDissipation            The rate of dissipation for the complementarity (one of the two parameters of the dynamical complementarity method). (d [=20])
      --dynamicComplementarityUpperBound      The upper-bound for the dynamic complementairty (one of the two parameters of the dynamical complementarity method). (d [=0.05])
      --classicalComplementarityTolerance     The upper bound for the classical complementarity. (d [=0.004])
  -?, --help                                  print this message

⚠️ In the docker image provided, only the linear solver mumps is supported.

⚠️ If you want to replicate the installation on your PC please follow the Docker recipe.

Citing this work

If you find the work useful, please consider citing:

@ARTICLE{dafarra2022dcc,
  author={Dafarra, Stefano and Romualdi, Giulio and Pucci, Daniele},
  journal={IEEE Transactions on Robotics}, 
  title={Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion}, 
  year={2022},
  volume={38},
  number={6},
  pages={3414-3433},
  doi={10.1109/TRO.2022.3183785}}

Maintainer

This repository is maintained by:
@S-Dafarra