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Trajectory planning for optimal robot catching in real-time

Lampariello, Roberto and Nguyen-Tuong, Duy and Castellini, Claudio and Hirzinger, Gerd and Peters, Jan (2011) Trajectory planning for optimal robot catching in real-time. In: Proceedings, pp. 3719-3726. ICRA 2011, May, 2011, Shanghai, China.

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Abstract

Many real-world tasks require fast planning of highly dynamic movements for their execution in realtime. The success often hinges on quickly finding one of the few plans that can achieve the task at all. A further challenge is to quickly find a plan which optimizes a desired cost. In this paper, we will discuss this problem in the context of catching small flying targets efficiently. This can be formulated as a non-linear optimization problem where the desired trajectory is encoded by an adequate parametric representation. The optimizer generates an energy-optimal trajectory by efficiently using the robot kinematic redundancy while taking into account maximal joint motion, collision avoidance and local minima. To enable the resulting method to work in real-time, examples of the global planner are generalized using nearest neighbour approaches, Support Vector Machines and Gaussian process regression, which are compared in this context. Evaluations indicate that the presented method is highly efficient in complex tasks such as ball-catching.as ball-catching.

Item URL in elib:https://elib.dlr.de/73550/
Document Type:Conference or Workshop Item (Paper)
Title:Trajectory planning for optimal robot catching in real-time
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lampariello, Robertoroberto.lampariello (at) dlr.deUNSPECIFIED
Nguyen-Tuong, DuyUNSPECIFIEDUNSPECIFIED
Castellini, ClaudioUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
Peters, JanUNSPECIFIEDUNSPECIFIED
Date:May 2011
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 3719-3726
Status:Published
Keywords:motion planning, robot catching, nonlinear optimization
Event Title:ICRA 2011
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:May, 2011
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Lampariello, Roberto
Deposited On:09 Jan 2012 11:09
Last Modified:31 Jul 2019 19:34

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