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A randomized kinodynamic planner for closed-chain robotic systems

Author
Bordalba, R.; Ros, L.; Porta, J.
Type of activity
Report
Date
2019
Code
IRI-TR-19-02
Project funding
KINODYN: Kinodynamic planning of efficient and agile robot motions
Repository
http://hdl.handle.net/2117/182364 Open in new window
Abstract
Kinodynamic RRT planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, like parallel robots, cooperating arms manipulating an object, or legged robots keeping their feet in contact with the environ- ment. The state space of such systems is an implicitly-defined manifold, which complicates the design of the sampling and steering procedures, and leads to trajectories that drift away...
Citation
Bordalba, R.; Ros, L.; Porta, J. "A randomized kinodynamic planner for closed-chain robotic systems". 2019.
Keywords
Atlas, Closed kinematic chain, Kinodynamic motion planning, LQR, Loop-closure constraint, Manifold, Steering, Trajectory
Group of research
KRD - Kinematics and Robot Design

Participants