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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 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 languageEnglish (US)
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages4220-4226
Number of pages7
DOIs
StatePublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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