Inverse kinematics based motion planning for underaetuated systems

被引：3

作者：

Choudhury, P ^{[1
]}

Stephens, B ^{[1
]}

Lynch, KM ^{[1
]}

机构：

[1] Northwestern Univ, Dept Mech Engn, Evanston, IL 60208 USA

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1307395

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We study the problem of generating motion plans for kinematically controllable underactuated systems in environments cluttered with obstacles. We develop a computationally efficient motion planning algorithm that finds fast trajectories by exploiting closed-form inverse kinematics of the robot. The completeness property of the motion planning algorithm can be proven using appropriate metrics defined in the configuration space of the kinematically controllable systems. The snakeboard is used as an example of a kinematically controllable underactuated system to test the motion planning algorithm, and motion plans have been implemented on an experimental snakeboard.

引用

页码：2242 / 2248

页数：7

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