A Two-Stage Trajectory Optimization Strategy for Articulated Bodies With Unscheduled Contact Sequences
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...
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Two articulated robots working in a shared workspace can be programmed by planning the tip trajectory of each robot independently. To account for collision avoidance between links, a real-time velocity alteration strategy based on fast and accurate collision detection is proposed in this paper to determine the step of next motion of slave (low priority) robot for collision-free trajectory plann...
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We present a formulation of rigid body dynamics with frictional contact that leverages ideas from discrete mechanics to derive time-stepping schemes with any desired order of integration accuracy. By utilizing the new time-stepping methods as dynamics constraints in a direct trajectory optimization scheme, we are able to perform contact-implicit trajectory optimization with accuracy equal to tr...
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Abstract The optimal solutions are most sensitive to the boundary conditions when performing topology optimization of components. In many applications the design domain of the components are subjected to unilateral contact conditions. In order to obtain relevant conceptual designs by topology optimization of such systems, the contact conditions should be included explicitly in the optimization....
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...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2017
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2016.2547024