Fast Adaptation of Manipulator Trajectories to Task Perturbation by Differentiating through the Optimal Solution

Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable. Existing works use the so-called warm-starting of trajectory o...

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Detalles Bibliográficos
Autores principales: Srikanth, Shashank, Babu, Mithun, Masnavi, Houman, Kumar Singh, Arun, Kruusamäe, Karl, Krishna, Krishnan Madhava
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9027669/
https://www.ncbi.nlm.nih.gov/pubmed/35458980
http://dx.doi.org/10.3390/s22082995

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9027669/
https://www.ncbi.nlm.nih.gov/pubmed/35458980
http://dx.doi.org/10.3390/s22082995

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