Optimal Motion Planning for a Class of Hybrid Dynamical Systems with Impacts
Hybrid dynamical systems with impacts typically have controls that can influence the time of the impact as well as the result of the impact. The leg angle of a hopping robot is an example of an impact control because it can influence when the impact occurs and the direction of the impulse. This paper provides a method for computing an explicit expression for the first derivative of a cost function encoding a desired trajectory. The first derivative can be used with standard optimization algorithms to find the optimal impact controls for motion planning of hybrid dynamical systems with impacts. The resulting derivation is implemented for a simplified model of a dynamic climbing robot.
Andrew W. Long Todd D. Murphey Kevin M. Lynch
Department of Mechanical Engineering,Northwestern University,Evanston,IL 60208 USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4220-4226
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）