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  Trajectory Planning for Optimal Robot Catching in Real-Time

Lampariello, R., Nguyen-Tuong, D., Castellini, C., Hirzinger, G., & Peters, J. (2011). Trajectory Planning for Optimal Robot Catching in Real-Time. In IEEE International Conference on Robotics and Automation (ICRA 2011) (pp. 3719-3726). Piscataway, NJ, USA: IEEE.

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Lampariello, R, Author
Nguyen-Tuong, D1, 2, Author              
Castellini, C, Author
Hirzinger, G, Author
Peters, J1, 2, Author              
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: Many real-world tasks require fast planning of highly dynamic movements for their execution in real-time. The success often hinges on quickly finding one of the few plans that can achieve the task at all. A further challenge is to quickly find a plan which optimizes a desired cost. In this paper, we will discuss this problem in the context of catching small flying targets efficiently. This can be formulated as a non-linear optimization problem where the desired trajectory is encoded by an adequate parametric representation. The optimizer generates an energy-optimal trajectory by efficiently using the robot kinematic redundancy while taking into account maximal joint motion, collision avoidance and local minima. To enable the resulting method to work in real-time, examples of the global planner are generalized using nearest neighbour approaches, Support Vector Machines and Gaussian process regression, which are compared in this context. Evaluations indicate that the presented method is highly efficient in complex tasks such as ball-catching.

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 Dates: 2011-05
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/ICRA.2011.5980114
BibTex Citekey: 7048
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Title: IEEE International Conference on Robotics and Automation (ICRA 2011)
Place of Event: Shanghai, China
Start-/End Date: 2011-05-09 - 2011-05-13

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Title: IEEE International Conference on Robotics and Automation (ICRA 2011)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3719 - 3726 Identifier: ISBN: 978-1-61284-386-5