An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation

Zhao, Mingyong; Gao, Xiao-Shan; Zhang, Qiang

doi:10.1017/s026357471700011x

Cited by 10 publications

(3 citation statements)

References 27 publications

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“…SPM has been widely used in various kinds of robots under various constraints. [31][32][33][34][35][36][37] To further optimize the path, Bobrow 38 described paths by B-spline and adopted SPM to search the minimum-time path. Pham et al 39 combined SPM with rapidly-exploring random tree to plan the optimal path.…”

Section: Introductionmentioning

confidence: 99%

Locomotion speed capability analysis of six-legged robots: Optimization and application

Chen

Tian

Gao

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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Locomotion speed is a key performance index of legged robots. However, methods to analyze and improve the locomotion speed capability are seldom developed, especially for six-legged robots. This paper develops a method to analyze and improve the omnidirectional walking speed and the turning speed of six-legged robots. The models of the inverse kinematics and the influence coefficients are built. Making use of the only-position-related property of the influence coefficients, a general optimization model of the locomotion trajectory is established. A two-step optimization method is introduced to solve the optimization problem. Based on the optimization, a comprehensive speed capability analysis is conducted on both omnidirectional walking and turning of the six-parallel-legged robot. The results clearly show the relationships among the speed capability, the walking direction and the duty cycle. The two-step optimization method improves the speed capability by 12.4%–13.2% for turning and 18.5%–20.5% for omnidirectional walking. Finally, the costs of the speed improvement are analyzed, including the stability, the energy consumption and the calculation time.

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Section: Introductionmentioning

confidence: 99%

Locomotion speed capability analysis of six-legged robots: Optimization and application

Chen

Tian

Gao

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…The method has currently been applied to various situations such as parallel 21 and cable-based 22 manipulators, nonlinear mechatronic systems, 23 wheeled robots, 24 jerk constraints, 25 impulse constraints 26 and probabilistic constraints. 27…”

Section: Introductionmentioning

confidence: 99%

Time-optimal trajectory planning method for six-legged robots under actuator constraints

Chen

Gao

2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Current studies on time-optimal trajectory planning centers on cases with fixed base and only one end-effector. However, the free-floating body and the multiple legs of the legged robot make the current methods inapplicable. This paper proposes a time-optimal trajectory planning method for six-legged robots. The model of the optimization problem for six-legged robots is built by considering the base and the end-effectors separately. Both the actuator constraints and the gait cycle constraints are taken into account. A novel two-step optimization method is proposed to solve the optimization problem. The first step solves the time-optimal trajectory of the body and the second step solves the time-optimal trajectory of the swinging legs. Finally, the method is applied to a six-parallel-legged robot and validated by experiments on the prototype. The results show that the velocity of the optimized gait is improved by 17.8% in contrast to the non-optimized one.

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“…22 In the convex optimization approach, the time-optimal path tracking problem is transformed into a convex optimal control problem by discretization the path s into N segments. [18][19][20] Recently, this method has been used to find the minimum time motion of humanoid robots in multi-contact tasks. 21 The convex optimization method is indeed a more generic approach, as it not only applies to finding time-optimal solutions, but can also be used to minimize any other index function.…”

Section: Introductionmentioning

confidence: 99%

A computationally efficient algorithm to find time-optimal trajectory of redundantly actuated robots moving on a specified path

Mansouri

Sadigh²,

Fazeli³

2018

Robotica

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A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several unresolved issues regarding calculation of solution curves. In this paper, we explore the characteristics of the maximum velocity curve (MVC) and propose an efficient algorithm to establish the solution curve. Then we propose a straightforward method to calculate the maximum or minimum possible acceleration on the path based on the pattern of saturated actuators, which substantially reduces the computational cost. Two numerical examples are provided to illustrate the issues and the solutions.

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An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation

Cited by 10 publications

References 27 publications

Locomotion speed capability analysis of six-legged robots: Optimization and application

Locomotion speed capability analysis of six-legged robots: Optimization and application

Time-optimal trajectory planning method for six-legged robots under actuator constraints

A computationally efficient algorithm to find time-optimal trajectory of redundantly actuated robots moving on a specified path

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