Optimal Path Planning for Space Robots with Joint Friction Torque.

PSO-Based Path Planning Algorithm for Humanoid Robots Considering Safety

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

Subsymbolic Path-planning for Space and Planetary Exploration Robots

Space and planetary exploration and construction can be significantly facilitated by the use of robotic technology, which can provide low risk and low cost means. Especially for remote missions, it seems necessary to use robots able to autonomously pursue mission goals specified beforehand by humans. One key competence that such an autonomous robotic agent should possess is the ability to plan ...

Probability-based Optimal Path Planning for Two-wheeled Mobile Robots

Most dynamic systems show uncertainty in their behavior. Therefore, a deterministic model is not sufficient to predict the stochastic behavior of such systems. Alternatively, a stochastic model can be used for better analysis and simulation. By numerically integrating the stochastic differential equation or solving the Fokker-Planck equation, we can obtain a probability density function of the ...

Exploiting Friction in Torque Controlled Humanoid Robots

A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilises these desired values. In doing so, the inner loop usually compensates for joint friction phenomena, thus removing their inherent stabilising property that may be also beneficial for high level control objectives. This paper...

Randomized preprocessing of configuration space for path planning: articulated robots