End-tip speed maximization for noncyclic swing motion based on time reversal integral in multiple-joint robots

Takatoshi Hondo; Ikuo Mizuuchi

ICRA 2015poster10 citations

End-tip speed maximization for noncyclic swing motion based on time reversal integral in multiple-joint robots

Abstract

This paper describes a control method for noncyclic swing motions such as throwing, hitting and kicking in multiple-joint robots by using “time reversal integral.” This method calculates a control input sequence and an initial posture of the robot to reach a designated terminal state by integrating a dynamic system without directly designating trajectories. The terminal end-tip speed is maximized by optimizing the target terminal state under constraints such as friction and the joint position limits. Feasibility of the method is evaluated by ball throwing experiments.

BibTeX

@inproceedings{icra2015_endtipspeedmaxim,
  title = {End-tip speed maximization for noncyclic swing motion based on time reversal integral in multiple-joint robots},
  author = {Takatoshi Hondo and Ikuo Mizuuchi},
  booktitle = {ICRA 2015},
  year = {2015}
}