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Randomized kinodynamic planning for constrained systems

Author
Bordalba, R.; Ros, L.; Porta, J.
Type of activity
Presentation of work at congresses
Name of edition
2018 IEEE International Conference on Robotics and Automation
Date of publication
2018
Presentation's date
2018
Book of congress proceedings
2018 IEEE International Conference on Mechatronics, Robotics and Automation: ICMRA 2018: May 18-21, 2018, Hefei University of Technology, China
First page
7079
Last page
7086
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/ICRA.2018.8460753 Open in new window
Project funding
KINODYN: Kinodynamic planning of efficient and agile robot motions
RobCab: Control strategies for cable-driven robot for low-gravity simulation
Unit of Excellence María de Maeztu
Repository
http://hdl.handle.net/2117/125331 Open in new window
URL
https://ieeexplore.ieee.org/document/8460753 Open in new window
Abstract
Kinodynamic RRT planners are considered to be general tools for effectively finding feasible trajectories for high-dimensional dynamical systems. However, they struggle when holonomic constraints are present in the system, such as those arising in parallel manipulators, in robots that cooperate to fulfill a given task, or in situations involving contacts with the environment. In such cases, the state space becomes an implicitly-defined manifold, which makes the diffusion heuristic inefficient an...
Citation
Bordalba, R., Ros, L., Porta, J. Randomized kinodynamic planning for constrained systems. A: IEEE International Conference on Robotics and Automation. "Proceedings of 2018 IEEE International Conference on Robotics and Automation (ICRA)". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 7079-7086.
Keywords
Constrained Systems, Dynamics, Kindynamic Planning, Manifolds, Parallel Robots, robot dynamics, robot kinematics
Group of research
KRD - Kinematics and Robot Design

Participants