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Titel:

Online Deformation of Optimal Trajectories for Constrained Nonprehensile Manipulation

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Pekarovskiy, Alexander; Nierhoff, Thomas; Schenek, Jochen; Nakamura, Yoshihiko; Hirche, Sandra; Buss, Martin
Seitenangaben Beitrag:
2481-2487
Abstract:
This paper discusses an online dynamic motion generation scheme for nonprehensile object manipulation by using a set of predefined motions and a trajectory deformation algorithm capable of incorporating positional and velocity boundary constraints. By creating optimal trajectories offline and deforming them online, computational complexity during execution is reduced considerably. As tight convex hulls of the deformed trajectories can be found, possible obstacles or workspace boundaries can be cir...     »
Kongress- / Buchtitel:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Ausrichter der Konferenz:
IEEE
Datum der Konferenz:
May 26th - 30th, 2015
Verlagsort:
Seattle, Washington, USA
Jahr:
2015
Sprache:
en
Semester:
SS 15
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