Trajectory planning for optimal robot catching in real-time

Lampariello R, Nguyen-Tuong D, Castellini C, Hirzinger G, Peters J (2011)

Publication Type: Conference contribution

Publication year: 2011

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Pages Range: 3719-3726

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: CHN

ISBN: 9781612843865

DOI: 10.1109/ICRA.2011.5980114

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. © 2011 IEEE.

Authors with CRIS profile

Claudio Castellini

Involved external institutions

Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) / German Aerospace Center DE Germany (DE) Max-Planck-Institut für biologische Kybernetik / Max Planck Institute for Biological Cybernetics DE Germany (DE)

How to cite

APA:

Lampariello, R., Nguyen-Tuong, D., Castellini, C., Hirzinger, G., & Peters, J. (2011). Trajectory planning for optimal robot catching in real-time. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3719-3726). CHN.

MLA:

Lampariello, Roberto, et al. "Trajectory planning for optimal robot catching in real-time." Proceedings of the 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, CHN 2011. 3719-3726.

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