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Fast Adaptation of Manipulator Trajectories to Task Perturbation by Differentiating through the Optimal Solution
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable. Existing works use the so-called warm-starting of trajectory o...
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| Main Authors: | , , , , , |
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| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
MDPI AG
2022-04-01
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| Colecção: | Sensors |
| Assuntos: | |
| Acesso em linha: | https://www.mdpi.com/1424-8220/22/8/2995 |
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