Motion Planning of a Balancing Robot with Threefold Sub–tasks: An Endogenous Configuration Space Approach

摘要：

The paper presents a task–priority motion planning algorithm for a balancing robot, derived from the endogenous configuration space approach. The motion planning problem is composed of three sub–tasks. Firstly, the robot has to reach a desirable point in task space (proper motion planning). Secondly, the upward position of the robot torso should be maintained during the motion. Thirdly, the motion should save the control energy. Performance of our algorithm is presented in simulations.

作者: Adam Ratajczak Krzysztof Tcho(n)

作者单位: Institute of Computer Engineering,Control and Robotics,Wroc(l)aw University of Technology,Janiszewski str. 11/17,50-372 Wroc(l)aw

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 6096-6101

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）