Inverse kinematics-based motion planning for underactuated systems

Prasun Choudhury; Benjamin Stephens; Kevin M. Lynch

doi:10.1109/robot.2004.1307395

Inverse kinematics-based motion planning for underactuated systems

Prasun Choudhury^*, Benjamin Stephens, Kevin M. Lynch

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

6 Scopus citations

Abstract

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.

Original language	English (US)
Pages (from-to)	2242-2248
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	3
DOIs	https://doi.org/10.1109/robot.2004.1307395
State	Published - 2004
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/robot.2004.1307395

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abstract = "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.",

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AU - Choudhury, Prasun

AU - Stephens, Benjamin

AU - Lynch, Kevin M.

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AB - 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.

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JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

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T2 - Proceedings- 2004 IEEE International Conference on Robotics and Automation

Y2 - 26 April 2004 through 1 May 2004

ER -

Inverse kinematics-based motion planning for underactuated systems

Abstract

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