TR2022-057

PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation


    •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation", IEEE International Conference on Robotics and Automation (ICRA), May 2022.
      BibTeX TR2022-057 PDF Software
      • @inproceedings{Raghunathan2022may,
      • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
      • title = {PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2022,
      • month = may,
      • url = {https://www.merl.com/publications/TR2022-057}
      • }
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  • Research Area:

    Robotics

Abstract:

PYROBOCOP is a Python-based package for con-trol, optimization and estimation of robotic systems described by nonlinear Differential Algebraic Equations (DAEs). In par-ticular, the package can handle systems with contacts that are described by complementarity constraints and provides a gen-eral framework for specifying obstacle avoidance constraints. The package performs direct transcription of the DAEs into a set of nonlinear equations by performing orthogonal collocation on finite elements. PYROBOCOP provides automatic reformu-lation of the complementarity constraints that are tractable to NLP solvers to perform optimization of robotic systems. The package is interfaced with ADOL-C [1] for obtaining sparse derivatives by automatic differentiation and IPOPT [2] for performing optimization. We evaluate PYROBOCOP on several manipulation problems for control and estimation.

 

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  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation", arXiv, March 2022.
    BibTeX
    • @article{Raghunathan2022mar,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation},
    • journal = {arXiv},
    • year = 2022,
    • month = mar
    • }