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 [BibTeX] [Marc21]
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
Type of publication: Conference paper
Citation: Lembono_ICRA2020_2020
Booktitle: International Conference on Robotics and Automation
Year: 2020
Abstract: In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consistent whole-body trajectory to be stored as the memory of motion. The learning problem is formulated as a regression problem to predict a single-step motion given the desired contact locations, which is used as a building block for producing multi-step motions. The predicted motion is then used as a warm-start for the fast optimal control solver Crocoddyl. We have shown that the approach manages to reduce the required number of iterations to reach the convergence from ~9.5 to only ~3.0 iterations for the single-step motion and from ~6.2 to ~4.5 iterations for the multi-step motion, while maintaining the solution's quality.
Projects Idiap
Authors Lembono, Teguh Santoso
Mastalli, Carlos
Fernbach, Pierre
Mansard, Nicolas
Calinon, Sylvain
Added by: [UNK]
Total mark: 0
  • Lembono_ICRA2020_2020.pdf