Conference proceeding
Continuous trajectory optimization for autonomous humanoid door opening
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA), pp 1-5
Apr 2013
Featured in Collection : UN Sustainable Development Goals @ Drexel
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.
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Details
- Title
- Continuous trajectory optimization for autonomous humanoid door opening
- Creators
- Matt Zucker - Swarthmore CollegeYoungbum Jun - Institute of Robotics and Intelligent SystemsBrittany Killen - Institute of Robotics and Intelligent SystemsTae-Goo Kim - Institute of Robotics and Intelligent SystemsPaul Oh - Institute of Robotics and Intelligent SystemsIEEE
- Publication Details
- 2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA), pp 1-5
- Publisher
- IEEE
- Resource Type
- Conference proceeding
- Language
- English
- Web of Science ID
- WOS:000326807200015
- Scopus ID
- 2-s2.0-84883384353
- Other Identifier
- 991019348913804721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Engineering, Electrical & Electronic
- Robotics