Lee, Jaesoon (Korea Institute of Robot and Technology Convergence (KIRO)), Lee, Junyoung (Korea Institute of Robot and Technology Convergence (KIRO)), Yu, Byeonggi (Korea Institute of Robot and Technology Convergence (KIRO)), Kim, Murim (Korea Institute of Robot and Technology Convergence (KIRO))

Trajectory Generation Method Based on Differential Dynamic Programming with Center of Mass

Scheduled for presentation during the Regular Session "Bio-inspired & Humanoid Robotics" (FrBT5), Friday, July 18, 2025, 15:00−15:20, 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 study applies the Differential Dynamic Programming (DDP) algorithm to a 3-link cart for trajectory generation. Cost functions incorporating the center of mass (COM) were designed to ensure stability. Experiments show that applying COM weights reduced the distance between the arm’s COM and the system’s COM while decreasing joint torques. These results validate the algorithm's effectiveness in enhancing trajectory stability and efficiency in floating-base systems.