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This paper addresses optimal motion for general machines. Approximation for optimal motion needs a global path planning algorithm that precisely calculates the whole dynamics of a machine in a brief calculation. We propose a path planning algorithm that is composed of a path searching algorithm and a pruning algorithm. The pruning algorithm is based on our analysis for the resemblances of states....
The paper presents an approach to path planning problem for manipulators operating in difficult environments with high probability of collisions. The approach improves the Rapidly exploring Random Trees (RRT) algorithm and produces a new approach with better results. It is achieved by expanding the forward and backward tree and reducing dynamically the sampling area of the free-configuration space...
Sampling-based kinodynamic planners, such as the popular RRT algorithm, have been proposed as promising solutions to planning for systems with dynamics. Nevertheless, complex systems often raise significant challenges. In particular, the state-space exploration of sampling-based tree planners can be heavily biased towards a specific direction due to the presence of dynamics and underactuation. The...
Considering the kinematic constraints and the path discreteness, a novel path planning method based on the feasible gait is proposed for an inchworm-like robot moving in a narrow space in this paper. Firstly, by analyzing the locomotion modes and the basic gaits of the robot, some arithmetic operators to describe the change of the position and orientation are defined, and a gait graph model is also...
The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with nonholonomic dynamic constraints. The authors propose an offline trajectory planning algorithm that provides a class of parametric trajectories to the unactuated joint in order to reach desired static configurations of the system...
A novel progressive genetic algorithm was developed for motion planning of a three-limbed robot. The proposed motion planning method can be used to find a optimal joints trajectory from the initial to the final position and orientation. On the basis of the genetic algorithm a kind of variable structure genetic algorithm was proposed to solve the problem of motion planning of the three-limbed in dynamic...
Interestingly in different situations, human not only plans differently for approaching, accompanying, passing by and avoiding another person, but also smoothly maintains an appropriate distance. But for a mobile robot it is not trivial at all, while also maintaining its goal. In this paper we present a generic framework of mobile robot path planning for adapting social rules at different states of...
In this paper, we present a recursive method for the optimization of humanoid robot motions. The method is based on an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The algorithm makes use of the theory of Lie groups and Lie algebra. The main objective of this method is to smooth the pre-calculated humanoid...
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