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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Kolter, J.Z. Ng, A.Y. |
| Copyright Year | 2009 |
| Description | Author affiliation: Computer Science Department, Stanford University, CA 94305 USA (Kolter, J.Z.; Ng, A.Y.) |
| Abstract | We consider the task of planning smooth trajectories for robot motion. In this paper we make two contributions. First we present a method for cubic spline optimization; this technique lets us simultaneously plan optimal task-space trajectories and fit cubic splines to the trajectories, while obeying many of the same constraints imposed by a typical motion planning algorithm. The method uses convex optimization techniques, and is therefore very fast and suitable for real-time re-planning and control. Second, we apply this approach to the tasks of planning foot and body trajectory for a quadruped robot, the “LittleDog,” and show that the proposed approach improves over previous work on this robot. |
| Starting Page | 1675 |
| Ending Page | 1682 |
| File Size | 552306 |
| Page Count | 8 |
| File Format | |
| ISBN | 9781424427888 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2009.5152554 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-05-12 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Spline Trajectory Motion planning Robot motion Constraint optimization Foot Robotics and automation Computer science Optimization methods Stochastic processes |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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