GPU-Based Contact-Aware Trajectory Optimization Using A Smooth Force Model
| dc.contributor.author | Pan, Zherong | en_US |
| dc.contributor.author | Ren, Bo | en_US |
| dc.contributor.author | Manocha, Dinesh | en_US |
| dc.contributor.editor | Batty, Christopher and Huang, Jin | en_US |
| dc.date.accessioned | 2019-11-22T13:23:06Z | |
| dc.date.available | 2019-11-22T13:23:06Z | |
| dc.date.issued | 2019 | |
| dc.description.abstract | We present a new formulation of trajectory optimization for articulated bodies. Our approach uses a fully differentiable dynamic model of the articulated body, and a smooth force model that approximates all kinds of internal/external forces as a smooth function of the articulated body's kinematic state. Our formulation is contact-aware and its complexity is not dependent on the contact positions or the number of contacts. Furthermore, we exploit the block-tridiagonal structure of the Hessian matrix and present a highly parallel Newton-type trajectory optimizer that maps well to GPU architectures. Moreover, we use a Markovian regularization term to overcome the local minima problems in the optimization formulation. We highlight the performance of our approach using a set of locomotion tasks performed by characters with 15 − 35 DOFs. In practice, our GPU-based algorithm running on a NVIDIA TITAN-X GPU provides more than 30× speedup over a multi-core CPU-based implementation running on Intel Xeon E5-1620 CPU. In addition, we demonstrate applications of our method on various applications such as contact-rich motion planning, receding-horizon control, and motion graph construction. | en_US |
| dc.description.sectionheaders | Characters in Motion | |
| dc.description.seriesinformation | Eurographics/ ACM SIGGRAPH Symposium on Computer Animation | |
| dc.identifier.doi | 10.1145/3309486.3340246 | |
| dc.identifier.isbn | 978-1-4503-6677-9 | |
| dc.identifier.issn | 1727-5288 | |
| dc.identifier.uri | https://doi.org/10.1145/3309486.3340246 | |
| dc.identifier.uri | https://diglib.eg.org:443/handle/10.1145/3309486-3340246 | |
| dc.publisher | ACM | en_US |
| dc.subject | Computing methodologies→Physical simulation. trajectory optimization | |
| dc.subject | articulated bodies | |
| dc.subject | deformable bodies | |
| dc.subject | positionbased dynamics | |
| dc.title | GPU-Based Contact-Aware Trajectory Optimization Using A Smooth Force Model | en_US |