On robot gymnastics planning with non-zero angular momentum

Papadopoulos, E; Fragkos, I; Tortopidis, I

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Fragkos, I	en
dc.contributor.author	Tortopidis, I	en
dc.date.accessioned	2014-03-01T02:44:52Z
dc.date.available	2014-03-01T02:44:52Z
dc.date.issued	2007	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31984
dc.subject	Gymnast robots	en
dc.subject	Non-zero angular momentum	en
dc.subject	Nonholonomic planning	en
dc.subject	Underactuated	en
dc.subject.other	Gymnast robots	en
dc.subject.other	Non-zero angular momentum	en
dc.subject.other	Nonholonomic planning	en
dc.subject.other	Time dependence	en
dc.subject.other	Angular momentum	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Constraint theory	en
dc.subject.other	Optimization	en
dc.subject.other	Robotics	en
dc.subject.other	Motion planning	en
dc.title	On robot gymnastics planning with non-zero angular momentum	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2007.363187	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2007.363187	en
heal.identifier.secondary	4209291	en
heal.publicationDate	2007	en
heal.abstract	Conservation of angular momentum that introduces nonholonomic behavior, underactuation and time dependence, makes the trajectory planning of gymnastic robots difficult. By defining appropriate values for the initial angular momentum, a method is developed that can lead a mechanism to a desired final configuration from an initial given one, in prescribed time. This method is optimization-based and fully exploits the initial mechanism angular momentum. Obstacle avoidance during flight is achieved by setting additional constraints. The method results in smooth, small in magnitude, and therefore easily applicable joint torques. ©2007 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2007.363187	en
dc.identifier.spage	1443	en
dc.identifier.epage	1448	en