Continuous Trajectory Optimization For Autonomous Humanoid Door Opening
Document Type
Conference Proceeding
Publication Date
2013
Published In
2013 IEEE Conference On Technologies For Practical Robot Applications (TePRA)
Abstract
The upcoming DARPA Robotics Challenge (DRC) presents a demanding set of real-world tasks to be accomplished autonomously by robots. In this paper, we describe the development of a system to control an existing humanoid robot to open a door, one of the many tasks of the DRC. Special emphasis is placed upon generating smooth trajectories which minimize unnecessary motion of the robot. We describe methods for generating and optimizing trajectories for the robot, and present preliminary results demonstrated on the physical robotic platform. To the best of our knowledge, we demonstrate the first large scale application of the CHOMP trajectory optimization in a situation with closed kinematic chain constraints.
Keywords
Robots
Published By
IEEE
Conference
2013 IEEE Conference On Technologies For Practical Robot Applications (TePRA)
Conference Dates
April 22-23, 2013
Conference Location
Woburn, MA
Recommended Citation
Matthew A. Zucker, Y. Jun, B. Killen, T.-G. Kim, and P. Oh.
(2013).
"Continuous Trajectory Optimization For Autonomous Humanoid Door Opening".
2013 IEEE Conference On Technologies For Practical Robot Applications (TePRA).
DOI: 10.1109/TePRA.2013.6556358
https://works.swarthmore.edu/fac-engineering/100