Optimal motion planning for a class of hybrid dynamical systems with impacts

Andrew W. Long; Todd David Murphey; Kevin M Lynch

doi:10.1109/ICRA.2011.5980154

Optimal motion planning for a class of hybrid dynamical systems with impacts

Andrew W. Long^*, Todd David Murphey, Kevin M Lynch

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Scopus citations

Abstract

Hybrid dynamical systems with impacts typically have controls that can influence the time of the impact as well as the result of the impact. The leg angle of a hopping robot is an example of an impact control because it can influence when the impact occurs and the direction of the impulse. This paper provides a method for computing an explicit expression for the first derivative of a cost function encoding a desired trajectory. The first derivative can be used with standard optimization algorithms to find the optimal impact controls for motion planning of hybrid dynamical systems with impacts. The resulting derivation is implemented for a simplified model of a dynamic climbing robot.

Original language	English (US)
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	4220-4226
Number of pages	7
DOIs	https://doi.org/10.1109/ICRA.2011.5980154
State	Published - Dec 1 2011
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: May 9 2011 → May 13 2011

Other

Other	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	5/9/11 → 5/13/11

ASJC Scopus subject areas

Control and Systems Engineering
Software
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2011.5980154

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title = "Optimal motion planning for a class of hybrid dynamical systems with impacts",

abstract = "Hybrid dynamical systems with impacts typically have controls that can influence the time of the impact as well as the result of the impact. The leg angle of a hopping robot is an example of an impact control because it can influence when the impact occurs and the direction of the impulse. This paper provides a method for computing an explicit expression for the first derivative of a cost function encoding a desired trajectory. The first derivative can be used with standard optimization algorithms to find the optimal impact controls for motion planning of hybrid dynamical systems with impacts. The resulting derivation is implemented for a simplified model of a dynamic climbing robot.",

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AU - Murphey, Todd David

AU - Lynch, Kevin M

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N2 - Hybrid dynamical systems with impacts typically have controls that can influence the time of the impact as well as the result of the impact. The leg angle of a hopping robot is an example of an impact control because it can influence when the impact occurs and the direction of the impulse. This paper provides a method for computing an explicit expression for the first derivative of a cost function encoding a desired trajectory. The first derivative can be used with standard optimization algorithms to find the optimal impact controls for motion planning of hybrid dynamical systems with impacts. The resulting derivation is implemented for a simplified model of a dynamic climbing robot.

AB - Hybrid dynamical systems with impacts typically have controls that can influence the time of the impact as well as the result of the impact. The leg angle of a hopping robot is an example of an impact control because it can influence when the impact occurs and the direction of the impulse. This paper provides a method for computing an explicit expression for the first derivative of a cost function encoding a desired trajectory. The first derivative can be used with standard optimization algorithms to find the optimal impact controls for motion planning of hybrid dynamical systems with impacts. The resulting derivation is implemented for a simplified model of a dynamic climbing robot.

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BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

Y2 - 9 May 2011 through 13 May 2011

ER -

Optimal motion planning for a class of hybrid dynamical systems with impacts

Abstract

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