ICRA 2011 Paper Abstract

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Paper WeP209.6

Long, Andrew (Northwestern University), Murphey, Todd (Northwestern University), Lynch, Kevin (Northwestern University)

Optimal Motion Planning for a Class of Hybrid Dynamical Systems with Impacts

Scheduled for presentation during the Regular Sessions "Motion and Path Planning IV" (WeP209), Wednesday, May 11, 2011, 16:40−16:55, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Motion and Path Planning, Discrete Event Dynamic Automation Systems, Climbing robots

Abstract

Hybrid dynamical systems with impacts typically have controls that can influence the time of the impact as well as the result of the impact. The leg angle of a hopping robot is an example of an impact control because it can influence when the impact occurs and the direction of the impulse. This paper provides a method for computing an explicit expression for the first derivative of a cost function encoding a desired trajectory. The first derivative can be used with standard optimization algorithms to find the optimal impact controls for motion planning of hybrid dynamical systems with impacts. The resulting derivation is implemented for a simplified model of a dynamic climbing robot.

 

 

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