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Finding a Feasible Initial Solution for Flatness-Based Multi-Link Manipulator Motion Planning under State and Control Constraints [article]

Keisuke Uto, Makoto Obayashi, Gaku Takano
2017 arXiv   pre-print
In this paper, we present a method to initialize at a feasible point and unfailingly solve a non-convex optimization problem in which a set-point motion is planned for a multi-link manipulator under state  ...  To evaluate the practical applicability of the proposed method, we did numerical experiments to solve a multi-link manipulator motion planning problem by combining the method with recursive inverse dynamics  ...  A typical method for motion planning that consider dynamics under some constraints discretizes state equations by using small time grids and solves their constrained optimization problems (e.g.  ... 
arXiv:1703.05019v1 fatcat:fquw7yboijbz7ap32aapqo4gra

On humanoid motion optimization

Wael Suleiman, Eiichi Yoshida, Jean-Paul Laumond, Andre Monin
2007 2007 7th IEEE-RAS International Conference on Humanoid Robots  
In this paper, we present a recursive method for the optimization of humanoid robot motions.  ...  The method is based on an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically.  ...  This framework takes as input a precalculated motions, which are provided by motion planning techniques.  ... 
doi:10.1109/ichr.2007.4813866 dblp:conf/humanoids/SuleimanYLM07 fatcat:eqhafdzbxfcptiuaptyc2jfr2y

Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems

Olatunji Mumini Omisore, Shipeng Han, Yousef Al-Handarish, Wenjing Du, Wenke Duan, Toluwanimi Oluwadara Akinyemi, Lei Wang
2020 Micromachines  
In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance  ...  Analyses of the results showed the control system was optimal in determining the necessary joint angles to reach a given target point, and motion profiles with a smooth trajectory was guaranteed, while  ...  The peculiar structure of the kinematic and dynamic model was keenly exploited for implementation of the trajectory planning and collision avoidance techniques.  ... 
doi:10.3390/mi11040386 pmid:32272641 pmcid:PMC7230873 fatcat:o7dquoaft5fc5eiyqwpqthkoe4

Motion planning of extreme locomotion maneuvers using multi-contact dynamics and numerical integration

Luis Sentis, Mike Slovich
2011 2011 11th IEEE-RAS International Conference on Humanoid Robots  
BACKGROUND In dynamic walking we can classify techniques in various categories: (1) trajectory-based techniques, (2) passive dynamic walking and optimal control, (3) prediction of contact, and (4) hybrids  ...  Passive dynamic walking and optimal control were pioneered by McGeer [7] through the field of passive dynamic walking.  ...  ACKNOWLEDGEMENTS Many thanks to HCRL students Nick Paine and Somudro Gupta for their assistance on the experiments and for providing feedback on the theoretical content.  ... 
doi:10.1109/humanoids.2011.6100918 dblp:conf/humanoids/SentisS11 fatcat:6uix6vleejai7lijeidupe5aem

Recursive least square and control for PUMA robotics

Lafta E. Jumaa Alkurawy
2021 Indonesian Journal of Electrical Engineering and Computer Science  
The identification will be in each joint for PUMA by RLS and applied PI controller on each joint to get the response follows the reference input by tuning the values of coefficients of PI.</p>  ...  <p>The solution of inverse kinematics system based on recursive least square (RLS) theorem is improved this paper. The task in joints of robotics is inverse kinematics for PUMA robotics.  ...  [2] proposed a technique of analytic and method of fuzzy logic are put into dynamic modeling for robotic fish with swimming control.  ... 
doi:10.11591/ijeecs.v21.i2.pp1238-1246 fatcat:2y7y2f6b5fa2rol5cbo2yosqva

Controller Hierarchies for Efficient Virtual Ergonomic Assessments of Manual Assembly Sequences

P. Mårdberg, Y. Yan, R. Bohlin, N. Delfs, S. Gustafsson, J.S. Carlson
2016 Procedia CIRP  
Depending on the state of the manikin and the objects in the environment, the controllers compute a sequence of low level instructions interpreted as path planning instances for the manikin.  ...  A novel framework for manikin motion planning has been implemented to reduce the time needed to perform virtual ergonomic assessments of manual assembly sequences.  ...  It is also part of the Sustainable Production Initiative and the Production Area of Advance at Chalmers University of Technology.  ... 
doi:10.1016/j.procir.2016.02.084 fatcat:usiaecxz7nbn5l63cgntlhvb3y

Efficient generation of motion transitions using spacetime constraints

Charles Rose, Brian Guenter, Bobby Bodenheimer, Michael F. Cohen
1996 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques - SIGGRAPH '96  
We use a fast recursive dynamics formulation which makes it possible to use spacetime constraints on systems with many degrees of freedom, such as human figures.  ...  The motion transition generation uses a combination of spacetime constraints and inverse kinematic constraints to generate seamless and dynamically plausible transitions between motion segments.  ...  The Microsoft Consumer Division generously shared motion capture data with us for use in this project.  ... 
doi:10.1145/237170.237229 dblp:conf/siggraph/RoseGBC96 fatcat:lb5t3bt3snhenop6m7nfiytmoe

Robot body self-modeling algorithm: a collision-free motion planning approach for humanoids

Ali Leylavi Shoushtari
2016 SpringerPlus  
Rahmatollahpoor for his helpful comments. Competing interests The author declares that he has no competing interests. Received: 2 October 2015 Accepted: 15 April 2016  ...  . , 2010a Anderson and Pandy 2001a, b) show that the optimal motion planning approaches are capable to predict human movements and so, these methods are appropriate for motion planning and control of  ...  stand movement and Mistry et al. (2010) proposed an optimization-based solution for human-like motion planning for this task.  ... 
doi:10.1186/s40064-016-2175-8 pmid:27186507 pmcid:PMC4848286 fatcat:iptfran3knhabaxn7x4oua3czu

A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance [article]

Andrea Bajcsy, Sylvia L. Herbert, David Fridovich-Keil, Jaime F. Fisac, Sampada Deglurkar, Anca D. Dragan, Claire J. Tomlin
2018 arXiv   pre-print
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans.  ...  This paper introduces a novel framework for robot navigation that accounts for high-order system dynamics and maintains safety in the presence of external disturbances, other robots, and non-deterministic  ...  ACKNOWLEDGMENTS The authors would like to thank Joe Menke for his assistance in hardware and motion capture systems, and Daniel Hua and Claire Dong for their help early on.  ... 
arXiv:1811.05929v1 fatcat:a7ernkgtp5dbjiwfm7rui6nccm

2010 Journal of Guidance, Control and Dynamics Subject Index

2010 Journal of Guidance Control and Dynamics  
Micro-Air-Vehicle Control During Hover G10-064 Evaluation of a Sliding Mode Fault- Tolerant Controller for the El Al Incident G10-168 Sequential Optimal Attitude Recursion Filter Human-Computer Interactions  ...  for a Class of Ballistic Transfers G10-017 Estimating Small-Body Gravity Field from Shape Model and Navigation Data Optimization Techniques G10-088 Hybrid Optimal Control Approach to Commercial Aircraft  ... 
doi:10.2514/1.52477 fatcat:kvlsdca6hvhqfpvldlp2pwwon4

Synthesis of constrained walking skills

Stelian Coros, Philippe Beaudoin, Kang Kang Yin, Michiel van de Pann
2008 ACM SIGGRAPH Asia 2008 papers on - SIGGRAPH Asia '08  
Second, the example motions and their underlying control patterns are analyzed to build a lowdimensional step-to-step model of the dynamics.  ...  First, an offline optimization method is applied in order to compute example control solutions for randomly-generated example problems from the given task domain.  ...  Acknowledgements We thank the anonymous reviewers for their detailed suggestions for improving the paper.  ... 
doi:10.1145/1457515.1409066 fatcat:vbjnm5dfbzhorg7pk3vnjzcvha

Synthesis of constrained walking skills

Stelian Coros, Philippe Beaudoin, Kang Kang Yin, Michiel van de Pann
2008 ACM Transactions on Graphics  
Second, the example motions and their underlying control patterns are analyzed to build a lowdimensional step-to-step model of the dynamics.  ...  First, an offline optimization method is applied in order to compute example control solutions for randomly-generated example problems from the given task domain.  ...  Acknowledgements We thank the anonymous reviewers for their detailed suggestions for improving the paper.  ... 
doi:10.1145/1409060.1409066 fatcat:it5246oxbrasni4ekst75diyrq

Active Uncertainty Reduction for Human-Robot Interaction: An Implicit Dual Control Approach [article]

Haimin Hu, Jaime F. Fisac
2022 arXiv   pre-print
While able to optimally and automatically trade off exploration and exploitation, dual control is computationally intractable for general interactive motion planning, mainly due to the fundamental coupling  ...  between robot trajectory optimization and human intent inference.  ...  The resulting policy improves safety and efficiency of human-in-the-loop motion planning via a tractable approximation to the Bellman recursion of a dual control problem, automatically achieving an efficient  ... 
arXiv:2202.07720v2 fatcat:veezzk7mr5bupb43joygscl2nq

Human lifting simulation using a multi-objective optimization approach

Yujiang Xiang, Jasbir S. Arora, Salam Rahmatalla, Timothy Marler, Rajankumar Bhatt, Karim Abdel-Malek
2010 Multibody system dynamics  
This paper presents a multiobjective optimization (MOO) approach to predicting dynamic lifting for a three-dimensional, highly redundant digital human model with 55 degrees of freedom.  ...  The optimization problem is formulated to optimize two objective functions simultaneously-dynamic effort and stability-subject to basic physical and kinematical constraints.  ...  Jingzhou Yang for his helpful comments on the manuscript.  ... 
doi:10.1007/s11044-009-9186-y fatcat:kz2dseve6fezrg5laricu6wghq

Approximate Inference-Based Motion Planning by Learning and Exploiting Low-Dimensional Latent Variable Models

Jung-Su Ha, Hyeok-Joo Chae, Han-Lim Choi
2018 IEEE Robotics and Automation Letters  
Utilizing the GP-LVM and the duality between control and estimation, we construct a fully probabilistic generative model with which a high-dimensional motion planning problem is transformed into a tractable  ...  Second, an approximate inference algorithm is used, exploiting through the duality between control and estimation, to explore the decision space and to compute a high-quality motion trajectory of the robot  ...  The planning problem is formulated as an optimal control (OC) problem considering the robot dynamics for a feasible motion trajectory and the cost function for the task.  ... 
doi:10.1109/lra.2018.2856915 dblp:journals/ral/HaCC18 fatcat:oz77sp367jfedi5xwtbaab6dsi
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