# Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction

arXiv: https://arxiv.org/abs/1810.13082 · HTML: https://mlsanity.com/paper/1810.13082/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Oct 2018.

## Built on by (most cited first, 1 of 1)

- [GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model](https://mlsanity.com/paper/2104.09771/) (2021)

## Abstract (arXiv)

Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact planning approaches assume a quasi-static balance criterion to reduce the computational challenges of selecting a contact sequence over a rough terrain. This however limits the applicability of the approach when dynamic motions are required, such as when walking down a steep slope or crossing a wide gap. Recent methods overcome this limitation with the help of efficient mixed integer convex programming solvers capable of synthesizing dynamic contact sequences. Nevertheless, its exponential-time complexity limits its applicability to short time horizon contact sequences within small environments. In this paper, we go beyond current approaches by learning a prediction of the dynamic evolution of the robot centroidal momenta, which can then be used for quickly generating dynamically robust contact sequences for robots with arms and legs using a search-based contact planner. We demonstrate the efficiency and quality of the results of the proposed approach in a set of dynamically challenging scenarios.