Missura, M. ; Lee, D. ; Bennewitz, M. ; Stryk, Oskar von (2017)
The synchronized holonomic model: A framework for efficient motion generation.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
doi: 10.1109/IROS.2017.8206025
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
We present a simple and efficient mathematical framework suitable for generating motion in the context of a variety of robotic motion tasks ranging from low-level motor control up to high-level locomotion planning. Our concept is based on a one-dimensional second-order model that allows analytic computation of its inverse dynamics while respecting physical constraints. This makes it a particularly useful tool for tasks that are expressed only as a start and goal state, such as animation key frames or way points in path planning. By means of time synchronization, the model extends easily to an arbitrary number of dimensions in a way that the target is reached in all dimensions at the same time. The framework excels in terms of execution time, which lies in the microsecond range even for high-dimensional trajectory generation tasks. We demonstrate our method in two different settings - full-body trajectory generation and path planning - and show its benefits in comparison with current state-of-the-art algorithms.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2017 |
| Autor(en): | Missura, M. ; Lee, D. ; Bennewitz, M. ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | The synchronized holonomic model: A framework for efficient motion generation |
| Sprache: | Englisch |
| Publikationsjahr: | September 2017 |
| Veranstaltungstitel: | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| DOI: | 10.1109/IROS.2017.8206025 |
| Kurzbeschreibung (Abstract): | We present a simple and efficient mathematical framework suitable for generating motion in the context of a variety of robotic motion tasks ranging from low-level motor control up to high-level locomotion planning. Our concept is based on a one-dimensional second-order model that allows analytic computation of its inverse dynamics while respecting physical constraints. This makes it a particularly useful tool for tasks that are expressed only as a start and goal state, such as animation key frames or way points in path planning. By means of time synchronization, the model extends easily to an arbitrary number of dimensions in a way that the target is reached in all dimensions at the same time. The framework excels in terms of execution time, which lies in the microsecond range even for high-dimensional trajectory generation tasks. We demonstrate our method in two different settings - full-body trajectory generation and path planning - and show its benefits in comparison with current state-of-the-art algorithms. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 19 Nov 2018 10:47 |
| Letzte Änderung: | 15 Mär 2019 09:58 |
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