A Comparative Study of Floating-Base Space Parameterizations for Agile Whole-Body Motion Planning
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| Format: | Preprint |
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2025
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| _version_ | 1866915447643832320 |
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| author | Tsiatsianas, Evangelos Kiourt, Chairi Chatzilygeroudis, Konstantinos |
| author_facet | Tsiatsianas, Evangelos Kiourt, Chairi Chatzilygeroudis, Konstantinos |
| contents | Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the choice of floating-base space parameterization affects performance, especially for agile behaviors involving complex contact dynamics. In this paper, we present a comparative study of different parameterizations for direct transcription-based trajectory optimization of agile motions in legged systems. We systematically evaluate several common choices under identical optimization settings to ensure a fair comparison. Furthermore, we introduce a novel formulation based on the tangent space of SE(3) for representing the robot's floating-base pose, which, to our knowledge, has not received attention from the literature. This approach enables the use of mature off-the-shelf numerical solvers without requiring specialized manifold optimization techniques. We hope that our experiments and analysis will provide meaningful insights for selecting the appropriate floating-based representation for agile whole-body motion generation. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2508_11520 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Comparative Study of Floating-Base Space Parameterizations for Agile Whole-Body Motion Planning Tsiatsianas, Evangelos Kiourt, Chairi Chatzilygeroudis, Konstantinos Robotics Systems and Control Optimization and Control Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the choice of floating-base space parameterization affects performance, especially for agile behaviors involving complex contact dynamics. In this paper, we present a comparative study of different parameterizations for direct transcription-based trajectory optimization of agile motions in legged systems. We systematically evaluate several common choices under identical optimization settings to ensure a fair comparison. Furthermore, we introduce a novel formulation based on the tangent space of SE(3) for representing the robot's floating-base pose, which, to our knowledge, has not received attention from the literature. This approach enables the use of mature off-the-shelf numerical solvers without requiring specialized manifold optimization techniques. We hope that our experiments and analysis will provide meaningful insights for selecting the appropriate floating-based representation for agile whole-body motion generation. |
| title | A Comparative Study of Floating-Base Space Parameterizations for Agile Whole-Body Motion Planning |
| topic | Robotics Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2508.11520 |