NDLI: Approximate optimal control for reaching and trajectory planning in a humanoid robot

Content Provider	IEEE Xplore Digital Library
Author	Ivaldi, S. Fumagalli, M. Nori, F. Baglietto, M. Metta, G. Sandini, G.
Copyright Year	2010
Description	Author affiliation: Robotics, Brain and Cognitive Sciences Department, Italian Institute of Technology, Genoa, Italy (Ivaldi, S.; Fumagalli, M.; Nori, F.) \|\| Department of Communication, Computer and System Sciences, Faculty of Engineering, University of Genoa, Italy (Baglietto, M.; Metta, G.; Sandini, G.)
Abstract	Online optimal planning of robotic arm movement is addressed. Optimality is inspired by computational models, where a “cost function” is used to describe limb motions according to different criteria. A method is proposed to implement optimal planning in Cartesian space, minimizing some cost function, by means of numerical approximation to a generalized nonlinear model predictive control problem. The Extended RItz Method is applied as a functional approximation technique. Differently from other approaches, the proposed technique can be applied on platforms with strict control temporal constraints and limited processing capability, since the computational burden is completely concentrated in an off-line phase. The trajectory generation on-line is therefore computationally efficient. Task to joint space conversion is implemented on-line by a closed loop inverse kinematics algorithm, taking into account the robot's physical limits. Experimental results, where a 4DOF arm moves according to a particular nonlinear cost, show the effectiveness of the proposed approach, and suggest interesting future developments.
Starting Page	1290
Ending Page	1296
File Size	936105
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649121
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Trajectory Joints Kinematics Approximation methods Optimization Planning
Content Type	Text
Resource Type	Article

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