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...

Cur síos iomlán

Na minha lista:
Sonraí Bibleagrafaíochta
Main Authors: Shashank Srikanth, Mithun Babu, Houman Masnavi, Arun Kumar Singh, Karl Kruusamäe, Krishnan Madhava Krishna
Formáid: Artigo
Teanga:Inglês
Foilsithe: MDPI AG 2022-04-01
Sraith:Sensors
Ábhair:
manipulation
task perturbation
optimization
control
Rochtain Ar Líne:https://www.mdpi.com/1424-8220/22/8/2995
Clibeanna: Cuir Clib Leis
Gan Chlibeanna, Bí ar an gcéad duine leis an taifead seo a chlibeáil!

Míreanna Comhchosúla