Optimized Trajectory Generation based on Model Predictive Control for Turning Over Pancakes

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2018/01/01

タイトル(英語): Optimized Trajectory Generation based on Model Predictive Control for Turning Over Pancakes

著者名: Toshiaki Tsuji (Saitama University), Kyo Kutsuzawa (Saitama University), Sho Sakaino (Saitama University)

著者名(英語): Toshiaki Tsuji (Saitama University), Kyo Kutsuzawa (Saitama University), Sho Sakaino (Saitama University)

キーワード: haptics，manipulation，kinodynamics，trajectory planning

要約(英語): This study investigates kinodynamic object manipulation by a robot using a tool. Based on the conditions for maintaining contact between a held spatula and a manipulated object, a variety of movements satisfying such conditions are planned. Model predictive control is introduced to plan an optimal trajectory. Simulation results show that the proposed method plans a variety of turning over motions with different setups of cost functions. Experimental results demonstrate that the trajectory optimization method accomplishes turning over motion, which is a typical example of motion with kinodynamic constraints.

本誌: IEEJ Journal of Industry Applications Vol.7 No.1 （2018）

本誌掲載ページ: 22-28 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/7/1/7_22/_article/-char/ja/