A stochastic dynamic motion planning algorithm for object-throwing

Avishai Sintov, Amir Shapiro

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Scopus citations

Abstract

A novel algorithm is proposed for offline motion planning of a robotic arm to perform a throw task of an object to reach a goal target. The planning algorithm searches for a throw trajectory that could be performed under kinematic and dynamic (i.e., kinodynamic) constraints. We parameterize the throw trajectory by a time-invariant high-dimensional vector. Then, the kinodynamic and target constraints are formulated in terms of time and the parameterization vector. These constraints form time-varying subspaces in the parameterization space. We present a stochastic method for finding a feasible and optimal solution within the subspace. The method generates a number of random points within the parameterization space and checks their feasibility using an adaptive search. The algorithm is guaranteed under a known probability to find a solution if one exists. We present simulations and experiments on a 3R manipulator to validate the method.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2475-2480
Number of pages6
EditionJune
ISBN (Electronic)9781479969234
DOIs
StatePublished - 29 Jun 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 26 May 201530 May 2015

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
NumberJune
Volume2015-June
ISSN (Print)1050-4729

Conference

Conference2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/TerritoryUnited States
CitySeattle
Period26/05/1530/05/15

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