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Underactuated Waypoint Trajectory Optimization for Light Painting Photography

Eilers, Christian ; Eschmann, Jonas ; Menzenbach, Robin ; Belousov, Boris ; Muratore, Fabio ; Peters, Jan (2022):
Underactuated Waypoint Trajectory Optimization for Light Painting Photography. (Postprint)
In: 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 1505-1510,
Darmstadt, IEEE, International Conference on Robotics and Automation (ICRA), Paris, France, 31.05-31.08.2020, e-ISSN 2577-087X, ISBN 978-1-7281-7395-5,
DOI: 10.26083/tuprints-00020549,
[Conference or Workshop Item]

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Item Type: Conference or Workshop Item
Origin: Secondary publication service
Status: Postprint
Title: Underactuated Waypoint Trajectory Optimization for Light Painting Photography
Language: English
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.

Book Title: 2020 IEEE International Conference on Robotics and Automation (ICRA)
Place of Publication: Darmstadt
Publisher: IEEE
Collation: 6 Seiten
Uncontrolled Keywords: Optimization and Optimal Control; Motion and Path Planning; Underactuated Robots
Classification DDC: 000 Allgemeines, Informatik, Informationswissenschaft > 004 Informatik
Divisions: 20 Department of Computer Science > Intelligent Autonomous Systems
TU-Projects: EC/H2020|640554|SKILLS4ROBOTS
Event Title: International Conference on Robotics and Automation (ICRA)
Event Location: Paris, France
Event Dates: 31.05-31.08.2020
Date Deposited: 18 Nov 2022 14:10
Last Modified: 18 Nov 2022 14:11
DOI: 10.26083/tuprints-00020549
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-205498
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/20549
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