Eilers, Christian ; Eschmann, Jonas ; Menzenbach, Robin ; Belousov, Boris ; Muratore, Fabio ; Peters, Jan (2022)
Underactuated Waypoint Trajectory Optimization for Light Painting Photography.
International Conference on Robotics and Automation (ICRA). Paris, France (31.05-31.08.2020)
doi: 10.26083/tuprints-00020549
Conference or Workshop Item, Secondary publication, Postprint
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Item Type: | Conference or Workshop Item |
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Type of entry: | Secondary publication |
Title: | Underactuated Waypoint Trajectory Optimization for Light Painting Photography |
Language: | English |
Date: | 2022 |
Place of Publication: | Darmstadt |
Year of primary publication: | 2022 |
Publisher: | IEEE |
Book Title: | 2020 IEEE International Conference on Robotics and Automation (ICRA) |
Collation: | 6 Seiten |
Event Title: | International Conference on Robotics and Automation (ICRA) |
Event Location: | Paris, France |
Event Dates: | 31.05-31.08.2020 |
DOI: | 10.26083/tuprints-00020549 |
Corresponding Links: | |
Origin: | Secondary publication service |
Abstract: | Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the engineer to frame the problem in an optimizer-friendly way. This paper proposes a procedure that automates such problem reformulation for a class of tasks in which the desired trajectory is specified by a sequence of waypoints. The approach is based on introducing auxiliary optimization variables that represent waypoint activations. To validate the proposed method, a letter drawing task is set up where shapes traced by the tip of a rotary inverted pendulum are visualized using long exposure photography. |
Uncontrolled Keywords: | Optimization and Optimal Control; Motion and Path Planning; Underactuated Robots |
Status: | Postprint |
URN: | urn:nbn:de:tuda-tuprints-205498 |
Classification DDC: | 000 Generalities, computers, information > 004 Computer science |
Divisions: | 20 Department of Computer Science > Intelligent Autonomous Systems |
TU-Projects: | EC/H2020|640554|SKILLS4ROBOTS |
Date Deposited: | 18 Nov 2022 14:10 |
Last Modified: | 24 Mar 2023 08:34 |
URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/20549 |
PPN: | 502453877 |
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