Optimized trajectory generation based on model predictive control for turning over pancakes

Toshiaki Tsuji; Kyo Kutsuzawa; Sho Sakaino

doi:10.1541/ieejjia.7.22

Optimized trajectory generation based on model predictive control for turning over pancakes

Toshiaki Tsuji, Kyo Kutsuzawa, Sho Sakaino

Research output: Contribution to journal › Article › peer-review

11 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	22-28
Number of pages	7
Journal	IEEJ Journal of Industry Applications
Volume	7
Issue number	1
DOIs	https://doi.org/10.1541/ieejjia.7.22
Publication status	Published - 2018
Externally published	Yes

Keywords

Haptics
Kinodynamics
Manipulation
Trajectory planning

ASJC Scopus subject areas

Automotive Engineering
Energy Engineering and Power Technology
Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejjia.7.22

Cite this

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title = "Optimized trajectory generation based on model predictive control for turning over pancakes",

abstract = "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.",

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AU - Tsuji, Toshiaki

AU - Kutsuzawa, Kyo

AU - Sakaino, Sho

PY - 2018

Y1 - 2018

N2 - 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.

AB - 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.

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KW - Kinodynamics

KW - Manipulation

KW - Trajectory planning

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Optimized trajectory generation based on model predictive control for turning over pancakes

Abstract

Keywords

ASJC Scopus subject areas

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