TR2022-089

Python-based Open Source Package for Optimization of Contact-rich Systems

    •  Raghunathan, A., Jha, D.K., Romeres, D., "Python-based Open Source Package for Optimization of Contact-rich Systems", Robotics: Science and Systems, June 2022.
      BibTeX TR2022-089 PDF
      • @inproceedings{Raghunathan2022jun,
      • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
      • title = {Python-based Open Source Package for Optimization of Contact-rich Systems},
      • booktitle = {Robotics: Science and Systems},
      • year = 2022,
      • month = jun,
      • url = {https://www.merl.com/publications/TR2022-089}
      • }
  • MERL Contacts:
  • Research Areas:

    Optimization, Robotics

Abstract:

PYROBOCOP is a Python-based package for control, optimization and estimation of robotic systems described by nonlinear Differential Algebraic Equations. In particular, the package can handle systems with contacts that are described by complementarity constraints and provides a general framework for specifying obstacle avoidance constraints. PYROBOCOP provides automatic reformulation of the complementarity constraints to perform optimization of robotic systems. The package is interfaced with ADOL-C [1] for automatic differentiation with sparse derivatives and IPOPT [5] as solver.