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The synchronized holonomic model: A framework for efficient motion generation

Missura, M. and Lee, D. and Bennewitz, M. and Stryk, Oskar von (2017):
The synchronized holonomic model: A framework for efficient motion generation.
In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS.2017.8206025,
[Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2017
Creators: Missura, M. and Lee, D. and Bennewitz, M. and Stryk, Oskar von
Title: The synchronized holonomic model: A framework for efficient motion generation
Language: English
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.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Date Deposited: 19 Nov 2018 10:47
DOI: 10.1109/IROS.2017.8206025
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