NDLI: Generating optimal trajectory of humanoid arm that minimizes torque variation using differential dynamic programming

Content Provider	IEEE Xplore Digital Library
Author	In-Won Park Young-Dae Hong Bum-Joo Lee Jong-Hwan Kim
Copyright Year	2012
Description	Author affiliation: Department of Electrical Engineering, KAIST, 335 Gwahangno (373-1 Guseong-dong), Yuseong-gu, Daejeon, 305-701, Republic of Korea (In-Won Park; Young-Dae Hong; Jong-Hwan Kim) \|\| Department of Electrical Engineering, Myongji University, San 38-2 Nam-dong, Cheoin-gu, Youngin, Gyeonggi-do, 449-728, Republic of Korea, (Bum-Joo Lee)
Abstract	This paper proposes an optimal control method to generate a minimum-torque change trajectory of humanoid arm by using a differential dynamic programming (DDP). Since DDP is a locally optimal feedback controller, the convergence is not guaranteed unless DDP starts with a good reference trajectory for high-dimensional nonlinear dynamical systems. The reference trajectory is generated by using the minimum-jerk trajectory method, and then the corresponding torque profile is obtained by using the computed-torque method. This reference trajectory is not optimal because it is solely based on the kinematics of the system. In the proposed method, the rate of torque change is used as control input in DDP to generate the optimal trajectory, which concurrently minimizes the torque variations and considers the dynamics of the system. The effectiveness of the proposed method is verified by computer simulations for generating the optimal trajectory of a 7 degrees-of-freedom (DOF) MyBot humanoid arm in Webots simulator.
Starting Page	1316
Ending Page	1321
File Size	930138
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225174
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Joints Torque Nonlinear dynamical systems Jacobian matrices Kinematics Cost function
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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