# Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

arXiv: https://arxiv.org/abs/2003.00609 · HTML: https://mlsanity.com/paper/2003.00609/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Mar 2020.

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

- [Whole-body End-Effector Pose Tracking](https://mlsanity.com/paper/2409.16048/) (2024)

## Abstract (arXiv)

This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to converge to highly robust dynamic solutions. We demonstrate the results of our approach using a quadruped robot equipped with a manipulator.