ICRA 2011 Paper Abstract


Paper ThP209.1

Ratajczak, Adam (Wroclaw University of Technology), Tchon, Krzysztof (Wrocław University of Technology)

Motion Planning of a Balancing Robot with Threefold Sub-Tasks: An Endogenous Configuration Space Approach

Scheduled for presentation during the Regular Sessions "Motion and Path Planning VI" (ThP209), Thursday, May 12, 2011, 15:25−15:40, 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 August 18, 2019

Keywords Motion and Path Planning, Underactuated Robots, Nonholonomic Motion Planning


The paper presents a task–priority motion planning algorithm for a balancing robot, derived from the endogenous configuration space approach. The motion planning problem is composed of three sub–tasks. Firstly, the robot has to reach a desirable point in task space (proper motion planning). Secondly, the upward position of the robot torso should be maintained during the motion. Thirdly, the motion should save the control energy. Performance of our algorithm is presented in simulations.



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