Eilers, Christian ; Eschmann, Jonas ; Menzenbach, Robin ; Belousov, Boris ; Muratore, Fabio ; Peters, Jan (2022)
Underactuated Waypoint Trajectory Optimization for Light Painting Photography.
International Conference on Robotics and Automation (ICRA). Paris, France (31.05-31.08.2020)
doi: 10.26083/tuprints-00020549
Konferenzveröffentlichung, Zweitveröffentlichung, Postprint
Kurzbeschreibung (Abstract)
Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the engineer to frame the problem in an optimizer-friendly way. This paper proposes a procedure that automates such problem reformulation for a class of tasks in which the desired trajectory is specified by a sequence of waypoints. The approach is based on introducing auxiliary optimization variables that represent waypoint activations. To validate the proposed method, a letter drawing task is set up where shapes traced by the tip of a rotary inverted pendulum are visualized using long exposure photography.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2022 |
| Autor(en): | Eilers, Christian ; Eschmann, Jonas ; Menzenbach, Robin ; Belousov, Boris ; Muratore, Fabio ; Peters, Jan |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Underactuated Waypoint Trajectory Optimization for Light Painting Photography |
| Sprache: | Englisch |
| Publikationsjahr: | 2022 |
| Ort: | Darmstadt |
| Verlag: | IEEE |
| Buchtitel: | 2020 IEEE International Conference on Robotics and Automation (ICRA) |
| Kollation: | 6 Seiten |
| Veranstaltungstitel: | International Conference on Robotics and Automation (ICRA) |
| Veranstaltungsort: | Paris, France |
| Veranstaltungsdatum: | 31.05-31.08.2020 |
| DOI: | 10.26083/tuprints-00020549 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/20549 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichungsservice |
| Kurzbeschreibung (Abstract): | Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the engineer to frame the problem in an optimizer-friendly way. This paper proposes a procedure that automates such problem reformulation for a class of tasks in which the desired trajectory is specified by a sequence of waypoints. The approach is based on introducing auxiliary optimization variables that represent waypoint activations. To validate the proposed method, a letter drawing task is set up where shapes traced by the tip of a rotary inverted pendulum are visualized using long exposure photography. |
| Freie Schlagworte: | Optimization and Optimal Control; Motion and Path Planning; Underactuated Robots |
| Status: | Postprint |
| URN: | urn:nbn:de:tuda-tuprints-205498 |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 000 Allgemeines, Informatik, Informationswissenschaft > 004 Informatik |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Intelligente Autonome Systeme |
| TU-Projekte: | EC/H2020|640554|SKILLS4ROBOTS |
| Hinterlegungsdatum: | 18 Nov 2022 14:10 |
| Letzte Änderung: | 21 Nov 2022 10:00 |
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