Motion Planning for Kinematic Systems

Motion Planning for Kinematic Legged Robots

Path-constrained Motion Planning for Robotics Based on Kinematic Constraints

Common robotic tracking tasks consist of motions along predefined paths. The design of time-optimal path-constrained trajectories for robotic applications is discussed in this paper. To increase industrial applicability, the proposed method accounts for robot kinematics together with actuator velocity, acceleration and jerk limits instead of accounting for the generally more complex dynamic equ...

Kinematic controllability and motion planning for the snakeboard

The snakeboard is shown to possess two decoupling vector fields, and to be kinematically controllable. Accordingly, the problem of steering the snakeboard from a given configuration at rest to a desired configuration at rest is posed as a constrained static nonlinear inversion problem. An explicit algorithmic solution to the problem is provided, and its limitations are discussed. An ad hoc solu...

Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting

We present a general motion planning algorithm for robotic systems with a “stratified” configuration space. Such systems include quasi-static legged robots and kinematic models of object manipulation by finger repositioning. Our method extends a nonlinear motion planning algorithm for smooth systems to the stratified case, where the relevant dynamics are not smooth. The method does not depend u...

Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map

A nonholonomic system subjected to external noise from the environment, or internal noise in its own actuators, will evolve in a stochastic manner described by an ensemble of trajectories. This ensemble of trajectories is equivalent to the solution of a Fokker-Planck equation that typically evolves on a Lie group. If the most likely state of such a system is to be estimated, and plans for subse...