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Paper FrA4.5

Kolter, J. Zico (Stanford University), Ng, Andrew (Stanford University)

Task-Space Trajectories via Cubic Spline Optimization

Scheduled for presentation during the Regular Sessions "Motion and Path Planning - I" (FrA4), Friday, May 15, 2009, 09:50−10:10, Room: 402

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Motion and Path Planning, Legged Robots and Humanoid Locomotion

Abstract

We consider the task of planning smooth trajectories for robot motion. In this paper we make two contributions. First we present a method for cubic spline optimization; this technique lets us simultaneously plan optimal task-space trajectories and fit cubic splines to the trajectories, while obeying many of the same constraints imposed by a typical motion planning algorithm. The method uses convex optimization techniques, and is therefore very fast and suitable for real-time re-planning and control. Second, we apply this approach to the tasks of planning foot and body trajectory for a quadruped robot, the ``LittleDog,'' and show that the proposed approach improves over previous work on this robot.

 

 

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