Underactuated Waypoint Trajectory Optimization for Light Painting Photography
Christian Eilers, Jonas Eschmann, Robin Menzenbach, Boris Belousov, Fabio Muratore, Jan Peters
Abstract
Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the engineer to frame the problem in an optimizer-friendly way. This paper proposes a procedure that automates such problem reformulation for a class of tasks in which the desired trajectory is specified by a sequence of waypoints. The approach is based on introducing auxiliary optimization variables that represent waypoint activations. To validate the proposed method, a letter drawing task is set up where shapes traced by the tip of a rotary inverted pendulum are visualized using long exposure photography.
BibTeX
@inproceedings{icra2020_underactuatedway,
title = {Underactuated Waypoint Trajectory Optimization for Light Painting Photography},
author = {Christian Eilers and Jonas Eschmann and Robin Menzenbach and Boris Belousov and Fabio Muratore and Jan Peters},
booktitle = {ICRA 2020},
year = {2020}
}