Sovukluk, Sait (TU Wien), Ott, Christian (TU Wien)

An Efficient Numerical Function Optimization Framework for Constrained Nonlinear Robotic Problems

Scheduled for presentation during the Regular Session "Bio-inspired & Humanoid Robotics" (FrBT5), Friday, July 18, 2025, 14:00−14:20, Room 109

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

This paper presents a numerical function optimization framework designed for constrained optimization problems in robotics. The tool is designed with real-time considerations and is suitable for online trajectory and control input optimization problems. The proposed framework does not require any analytical representation of the problem and works with constrained block-box optimization functions. The method combines first-order gradient-based line search algorithms with constraint prioritization through nullspace projections onto constraint Jacobian space. The tool is implemented in C++ and provided online for community use, along with some numerical and robotic example implementations presented in the end.