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

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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Bibliographic Details
Main Authors: Shashank Srikanth, Mithun Babu, Houman Masnavi, Arun Kumar Singh, Karl Kruusamäe, Krishnan Madhava Krishna
Format: Article
Language:English
Published: MDPI AG 2022-04-01
Series:Sensors
Subjects:
manipulation
task perturbation
optimization
control
Online Access:https://www.mdpi.com/1424-8220/22/8/2995

Internet

https://www.mdpi.com/1424-8220/22/8/2995

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