Eilers, Christian ; Eschmann, Jonas ; Menzenbach, Robin ; Belousov, Boris ; Muratore, Fabio ; Peters, Jan (2022):
Underactuated Waypoint Trajectory Optimization for Light Painting Photography. (Postprint)
In: 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 1505-1510,
Darmstadt, IEEE, International Conference on Robotics and Automation (ICRA), Paris, France, 31.05-31.08.2020, e-ISSN 2577-087X, ISBN 978-1-7281-7395-5,
DOI: 10.26083/tuprints-00020549,
[Conference or Workshop Item]
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 |
| Origin: | Secondary publication service |
| Status: | Postprint |
| Title: | Underactuated Waypoint Trajectory Optimization for Light Painting Photography |
| Language: | English |
| 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. |
| Book Title: | 2020 IEEE International Conference on Robotics and Automation (ICRA) |
| Place of Publication: | Darmstadt |
| Publisher: | IEEE |
| ISBN: | 978-1-7281-7395-5 |
| Collation: | 6 Seiten |
| Uncontrolled Keywords: | Optimization and Optimal Control; Motion and Path Planning; Underactuated Robots |
| Divisions: | 20 Department of Computer Science 20 Department of Computer Science > Intelligent Autonomous Systems |
| TU-Projects: | EC/H2020|640554|SKILLS4ROBOTS |
| Event Title: | International Conference on Robotics and Automation (ICRA) |
| Event Location: | Paris, France |
| Event Dates: | 31.05-31.08.2020 |
| Date Deposited: | 18 Nov 2022 14:10 |
| DOI: | 10.26083/tuprints-00020549 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/20549 |
| URN: | urn:nbn:de:tuda-tuprints-205498 |
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| Corresponding Links: | |
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