Sampling-based motion planning with dynamic intermediate state objectives: Application to throwing

Yajia Zhang, Jingru Luo, Kris Hauser

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Dynamic manipulations require attaining high velocities at specified configurations, all the while obeying geometric and dynamic constraints. This paper presents a motion planner that constructs a trajectory that passes at an intermediate state through a dynamic objective region, which is comprised of a certain lower dimensional submanifold in the configuration/velocity state space, and then returns to rest. Planning speed and reliability are greatly improved by finding good intermediate states first, because the choice of intermediate state couples the ramp-up and ramp-down subproblems, and moreover very few (often less than 1%) intermediate states yield feasible solution trajectories. Simulation experiments demonstrate that our method quickly generates trajectories for a 6-DOF industrial manipulator throwing a small object.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2551-2556
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Externally publishedYes
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Zhang, Y., Luo, J., & Hauser, K. (2012). Sampling-based motion planning with dynamic intermediate state objectives: Application to throwing. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 2551-2556). [6225319] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225319