TU Darmstadt / ULB / TUbiblio

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: 10.26083/tuprints-00020549
Conference or Workshop Item, Secondary publication, Postprint

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.

Item Type: Conference or Workshop Item
Erschienen: 2022
Creators: Eilers, Christian ; Eschmann, Jonas ; Menzenbach, Robin ; Belousov, Boris ; Muratore, Fabio ; Peters, Jan
Type of entry: Secondary publication
Title: Underactuated Waypoint Trajectory Optimization for Light Painting Photography
Language: English
Date: 2022
Place of Publication: Darmstadt
Publisher: IEEE
Book Title: 2020 IEEE International Conference on Robotics and Automation (ICRA)
Collation: 6 Seiten
Event Title: International Conference on Robotics and Automation (ICRA)
Event Location: Paris, France
Event Dates: 31.05-31.08.2020
DOI: 10.26083/tuprints-00020549
URL / URN: https://tuprints.ulb.tu-darmstadt.de/20549
Corresponding Links:
Origin: Secondary publication service
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.

Uncontrolled Keywords: Optimization and Optimal Control; Motion and Path Planning; Underactuated Robots
Status: Postprint
URN: urn:nbn:de:tuda-tuprints-205498
Classification DDC: 000 Generalities, computers, information > 004 Computer science
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Intelligent Autonomous Systems
TU-Projects: EC/H2020|640554|SKILLS4ROBOTS
Date Deposited: 18 Nov 2022 14:10
Last Modified: 21 Nov 2022 10:00
PPN:
Corresponding Links:
Export:
Suche nach Titel in: TUfind oder in Google
Send an inquiry Send an inquiry

Options (only for editors)
Show editorial Details Show editorial Details