对比多种机器人浮基参数化方法，提升敏捷运动规划效率。
A Comparative Study of Floating-Base Space Parameterizations for Agile Whole-Body Motion Planning
- 采用直接转录法统一对比不同浮基参数化方案。
- 新提出的SE(3)切空间表示法可兼容通用求解器。
- 适合需高效敏捷运动规划的腿式机器人研究者。
为腿式与人形机器人自动生成敏捷全身运动仍是机器人领域的核心挑战。尽管已有大量轨迹优化方法提出，但浮基空间参数化如何影响性能尚无明确指导，尤其在涉及复杂接触动力学的敏捷行为中。本文对基于直接转录法的腿式系统敏捷运动轨迹优化中常见的浮基参数化方法进行系统性比较，在相同优化设置下确保公平评估。此外，我们提出一种基于SE(3)切空间的新表述方法，据我们所知，该方法此前未被文献关注。该方法可直接使用成熟的通用数值求解器，无需专门的流形优化技术。期望本研究的实验与分析能为敏捷全身运动生成中的浮基表示选择提供有益参考。
原文摘要 · Abstract (English)
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the choice of floating-base space parameterization affects performance, especially for agile behaviors involving complex contact dynamics. In this paper, we present a comparative study of different parameterizations for direct transcription-based trajectory optimization of agile motions in legged systems. We systematically evaluate several common choices under identical optimization settings to ensure a fair comparison. Furthermore, we introduce a novel formulation based on the tangent space of SE(3) for representing the robot's floating-base pose, which, to our knowledge, has not received attention from the literature. This approach enables the use of mature off-the-shelf numerical solvers without requiring specialized manifold optimization techniques. We hope that our experiments and analysis will provide meaningful insights for selecting the appropriate floating-based representation for agile whole-body motion generation.
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