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Underactuated Waypoint Trajectory Optimization for Light Painting Photography

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: 10.1109/ICRA40945.2020.9196516
Konferenzveröffentlichung, Bibliographie

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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: Bibliographie
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: 10.1109/ICRA40945.2020.9196516
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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
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: 02 Aug 2024 12:45
Letzte Änderung: 02 Aug 2024 12:45
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