A direct method for trajectory optimization of rigid bodies through contact
نویسندگان
چکیده
منابع مشابه
A direct method for trajectory optimization of rigid bodies through contact
Direct methods for trajectory optimization are widely used for planning locally optimal trajectories of robotic systems. Many critical tasks, such as locomotion and manipulation, often involve impacting the ground or objects in the environment. Most state-of-the-art techniques treat the discontinuous dynamics that result from impacts as discrete modes and restrict the search for a complete path...
متن کاملCorrigendum: A direct method for trajectory optimization of rigid bodies
Direct methods for trajectory optimization are widely used for planning locally optimal trajectories of robotic systems. Many critical tasks, such as locomotion and manipulation, often involve impacting the ground or objects in the environment. Most state-of-the-art techniques treat the discontinuous dynamics that result from impacts as discrete modes and restrict the search for a complete path...
متن کاملDirect Trajectory Optimization of Rigid Body Dynamical Systems through Contact
Direct methods for trajectory optimization are widely used for planning locally optimal trajectories of robotic systems. Most state-of-the-art techniques treat the discontinuous dynamics of contact as discrete modes and restrict the search for a complete path to a specified sequence through these modes. Here we present a novel method for trajectory planning through contact that eliminates the r...
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We present a new approach to modeling contact between rigid objects that augments an individual Coulomb friction point-contact model with rolling and spinning friction constraints. Starting from the intersection volume, we compute a contact normal from the volume gradient. We compute a contact position from the first moment of the intersection volume, and approximate the extent of the contact p...
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To expand mission capabilities needed for exploration of the Solar System, optimal lowthrust trajectories must be found. However, low-thrust, multiple gravity-assist trajectories pose significant optimization challenges because of their expansive, multimodal design space. Here, a novel technique is developed for global, low-thrust, interplanetary trajectory optimization through the hybridizatio...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2013
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364913506757