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dc.contributor.authorBordalba Llaberia, Ricard
dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.authorRos Giralt, Lluís
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationBordalba, R., Porta, J.M., Ros, L. "Kinodynamic planning on constraint manifolds". 2017.
dc.description.abstractThis report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate to achieve a given task, or in situations involving contacts with the environment. The latter are necessary to obtain realistic trajectories, taking into account the forces acting on the system. The kinematic constraints make the state space become an implicitly-defined manifold, which complicates the application of common motion planning techniques. To address this issue, the planner constructs an atlas of the state space manifold incrementally, and uses this atlas both to generate random states and to dynamically simulate the steering of the system towards such states. The resulting tools are then exploited to construct a rapidly-exploring random tree (RRT) over the state space. To the best of our knowledge, this is the first randomized kinodynamic planner for implicitly-defined state spaces. The test cases presented validate the approach in significantly-complex systems.
dc.format.extent20 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherrobot dynamics
dc.subject.otherrobot kinematics
dc.subject.otherrobot programming
dc.subject.otherKinodynamic motion planning
dc.subject.otherconstrained system
dc.subject.otherdynamic simulation
dc.subject.otherrapidly-exploring randomized tree
dc.titleKinodynamic planning on constraint manifolds
dc.typeExternal research report
dc.contributor.groupUniversitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Robot dynamics
dc.rights.accessOpen Access
local.citation.authorBordalba, R.; Porta, J.M.; Ros, L.

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