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Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain — arXiv:2611.05585

Source: arXiv (en)
Original: https://arxiv.org/abs/2611.05585
License (as archived): CC0-1.0
Archived: 2026-11-05T18:30:32.255Z
SHA-256 of the archived text: db077602dbd18b15f13f02d8cf1fc4eb6a1bb2848f491290605af9273d55f94c
Stable URL of this page: https://metraipolis.com/documento/dc_afdb09138fb2

How to cite

Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain — arXiv:2611.05585 — arXiv (en), https://arxiv.org/abs/2611.05585 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_afdb09138fb2 (Metraipolis archive dc_afdb09138fb2, sha256 db077602dbd18b15f13f02d8cf1fc4eb6a1bb2848f491290605af9273d55f94c)

BibTeX

@misc{dcafdb09138fb2,
  title = {Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain — arXiv:2611.05585},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2611.05585},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_afdb09138fb2; sha256 db077602dbd18b15f13f02d8cf1fc4eb6a1bb2848f491290605af9273d55f94c},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2611.05585. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

This letter presents a trajectory planner for humanoid robots to perform dynamic motions on complex, parameterizable terrains using a contact-implicit whole-body optimization framework. The planner generates feasible movements without predefined contact sequences, considering the robot's full dynamics and kinematics. To plan bipedal locomotion on steps, ramps, and other terrains, we propose a mathematical model to approximate ground geometry with a smooth surface. The rigid interaction between the robot and the ground is modeled via novel contact constraints, extending the domain of applicability from flat and horizontal surfaces to any arbitrary smooth surface. Effectiveness is demonstrated using nonlinear programming to plan motions on various terrain topologies. We also explore dynamic trajectory generation by embedding high-level requirements in the cost function and the initial guess. Preliminary feasibility tests were conducted over non-coplanar terrains, both in simulation and on the real robot ErgoCub.

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2611.05585 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-05T18:20:03.980Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).