Time-Optimal Path Parameterization for Redundantly Actuated Robots: A Numerical Integration Approach

Pham, Quang-Cuong; Stasse, Olivier

doi:10.1109/tmech.2015.2409479

Cited by 54 publications

(76 citation statements)

References 20 publications

(59 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…• constraints for redundantly-actuated systems are handled natively: there is no need to project the constraints to the plane (path acceleration × control) at each path position, as done in [10], [11]; • Admissible Velocity Propagation [3], a recent concept for kinodynamic motion planning (see Section VI-A for a brief summary), can be derived "for free"; • robustness to parametric uncertainty, e.g. uncertain coefficients of friction or uncertain inertia matrices, can be obtained in a natural way.…”

Section: Proposed New Approach Based On Reachability Analysismentioning

confidence: 99%

See 1 more Smart Citation

A New Approach to Time-Optimal Path Parameterization Based on Reachability Analysis

2018

Self Cite

View full text Add to dashboard Cite

Time-Optimal Path Parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: Numerical Integration (NI) and Convex Optimization (CO). NIbased methods are fast but difficult to implement and suffer from robustness issues, while CO-based approaches are more robust but at the same time significantly slower. Here we propose a new approach to TOPP based on Reachability Analysis (RA). The key insight is to recursively compute reachable and controllable sets at discretized positions on the path by solving small Linear Programs (LPs). The resulting algorithm is faster than NI-based methods and as robust as CO-based ones (100% success rate), as confirmed by extensive numerical evaluations. Moreover, the proposed approach offers unique additional benefits: Admissible Velocity Propagation and robustness to parametric uncertainty can be derived from it in a simple and natural way.

show abstract

Section: Proposed New Approach Based On Reachability Analysismentioning

confidence: 99%

“…which is clearly convex. For redundantly-actuated manipulators, it was shown that the TOPP problem can also be formulated in the form of (1) [11] with…”

Section: A Generalized Constraintsmentioning

confidence: 99%

A New Approach to Time-Optimal Path Parameterization Based on Reachability Analysis

2018

Self Cite

View full text Add to dashboard Cite

show abstract

“…The key idea of the Incremental Projection (IP) algorithm [10] is to maintain inner and outer polyhedral approximations (Y in and Y out ) of the support section Y defined by (6). Y out is stored as a list of inequalities, while Y in as a list of vertices.…”

Section: F Incremental Projection (Ip)mentioning

confidence: 99%

“…PP is extremely fast for the case of two contacts and 4 generators, but its cost quickly increases with the number of contacts and generators, making it appealing only for very large numbers of tests (> 100). IP performs better than LP and PP in many situations, especially for an average number of tests (5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18)(19)(20) or for a large number of contacts and generators. IPR is overall the best algorithm because it is always the fastest (except for the case of 2 contacts and 4 generators, which is not very interesting given the large number of false negatives that we measured when using 4 generators).…”

Section: B Test 2 -Incremental Projection Revisitedmentioning

confidence: 99%

See 1 more Smart Citation

Fast algorithms to test robust static equilibrium for legged robots

Prete

Tonneau

Mansard

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Maintaining equilibrium is of primary importance for legged systems. It is not surprising then that static equilibrium is at the core of most control/planning algorithms for legged robots. Being able to check whether a system is in static equilibrium is thus important, and doing it efficiently is crucial. While this is straightforward for a system in contact with a flat ground only, it is not the case for arbitrary contact geometries. In this paper we propose two new techniques to test static equilibrium and we show that they are computationally faster than all other existing methods. Moreover, we address the issue of robustness to errors in the contact-force tracking, which could lead to slippage or rotation at the contacts. We extend all the discussed techniques to test for robust static equilibrium, that is the ability to maintain equilibrium while avoiding to lose contacts despite bounded force-tracking errors. Accounting for robustness does not affect the computation time of the equilibrium tests, while it qualitatively improves the contact postures generated by our reachability-based multicontact planner.

show abstract

Time‐optimal trajectory planning of a redundantly actuated planar parallel robot driven with series elastic actuators

Kordik,

Zauner,

Marauli

et al. 2023

Proc Appl Math and Mech

View full text Add to dashboard Cite

This paper addresses the time‐optimal trajectory planning of a redundantly actuated parallel robot driven by series elastic actuators. Here, the actuation redundancy allows prestressing the elastic components of the drives and enables more degrees of freedom in the trajectory planning. To this end, a time‐optimal control problem is formulated that takes also the physical constraints into account, that is actuation torques, task and joint space limits and self‐collisions. A flatness‐based parametrization of the dynamics is used in the nonlinear optimization problem and solved with the multiple shooting technique within the CasADi framework using IPOPT as a solver. Results are shown and compared to time‐optimal trajectories, both redundantly and non‐redundantly actuated with rigid drives.

show abstract

Time-Optimal Path Parameterization for Redundantly Actuated Robots: A Numerical Integration Approach

Cited by 54 publications

References 20 publications

A New Approach to Time-Optimal Path Parameterization Based on Reachability Analysis

A New Approach to Time-Optimal Path Parameterization Based on Reachability Analysis

Fast algorithms to test robust static equilibrium for legged robots

Time‐optimal trajectory planning of a redundantly actuated planar parallel robot driven with series elastic actuators

Contact Info

Product

Resources

About