Motion planning and control Misc.
Published:
- The notion of configuration space is the key insight to Lagrangian mechanics of rigid bodies, as it allows dynamics to be expressed using the precise degrees of freedom of a body. [1]
Posts by Collection
portfolio
Modern Robotics: Mechanics, Planning, and Control (Chapter 13)
Published:
Wheeled mobile robots may be classified in two major categories, omnidirectional and nonholonomic. We focus on nonholonomic mobile robots in the rest of the note.
TRAC-IK: An open-source library for improved solving of generic inverse kinematics
Published:
- SQP: \(arg \underset{q \in \bf{R}^n}{\text{min}} (q_{seed}-q)^T(q_{seed}-q)\) subject to \(f_i(q) \leq b_i, i=1,\dots,m\)
- SQP-DQ: the objective is the task space pose error.
- KDL-RR: KDL ik with random restarts
Trajectory planning for bertha—a local, continuous method
Published:
The solution trajectory is the constrained extremum of an objective function that is designed to express dynamic feasibility and comfort. Static and dynamic obstacle constraints are incorporated in the form of polygons. The constraints are carefully designed to ensure that the solution converges to a single, global optimum.
Sampling-based methods for motion planning with constraints
Published:
This paper considers geometrical constraints that reduce the number of degrees of freedom.
Chomp: Covariant hamiltonian optimization for motion planning
Published:
TODO
publications
Paper Title Number 1
Published in Journal 1, 2009
This paper is about the number 1. The number 2 is left for future work.
Recommended citation: Your Name, You. (2009). "Paper Title Number 1." Journal 1. 1(1). http://academicpages.github.io/files/paper1.pdf
Paper Title Number 2
Published in Journal 1, 2010
This paper is about the number 2. The number 3 is left for future work.
Recommended citation: Your Name, You. (2010). "Paper Title Number 2." Journal 1. 1(2). http://academicpages.github.io/files/paper2.pdf
Paper Title Number 3
Published in Journal 1, 2015
This paper is about the number 3. The number 4 is left for future work.
Recommended citation: Your Name, You. (2015). "Paper Title Number 3." Journal 1. 1(3). http://academicpages.github.io/files/paper3.pdf
talks
Talk 1 on Relevant Topic in Your Field
Published:
This is a description of your talk, which is a markdown files that can be all markdown-ified like any other post. Yay markdown!
Conference Proceeding talk 3 on Relevant Topic in Your Field
Published:
This is a description of your conference proceedings talk, note the different field in type. You can put anything in this field.
teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
This is a description of a teaching experience. You can use markdown like any other post.
Teaching experience 2
Workshop, University 1, Department, 2015
This is a description of a teaching experience. You can use markdown like any other post.