A Hybrid Systems Framework for Motion Planning with Motion Primitives of Mechanical Systems

PAMM ◽  
2014 ◽  
Vol 14 (1) ◽  
pp. 913-914
Author(s):  
Kathrin Flaßkamp ◽  
Sebastian Hage-Packhäuser ◽  
Sina Ober-Blöbaum
Keyword(s):  
Motion Planning ◽  
Hybrid Systems ◽  
Mechanical Systems ◽  
Motion Primitives ◽  
Systems Framework

Robust Finite-Time Parameter Estimation Using a Hybrid Systems Framework

2012 ◽  
Vol 57 (11) ◽  
pp. 2956-2962 ◽  
Author(s):  
Matthew Hartman ◽  
Nicolas Bauer ◽  
Andrew R. Teel
Keyword(s):  
Parameter Estimation ◽  
Hybrid Systems ◽  
Finite Time ◽  
Time Parameter ◽  
Systems Framework

Motion Planning and Differential Flatness of Mechanical Systems on Principal Bundles

2015 ◽  
Author(s):  
Tony Dear ◽  
Scott David Kelly ◽  
Matthew Travers ◽  
Howie Choset
Keyword(s):  
Nonlinear Control ◽  
Motion Planning ◽  
Geometric Structure ◽  
Mechanical Systems ◽  
Differential Flatness ◽  
Planning Problem ◽  
Principal Bundles ◽  
General Motion ◽  
Motion Planning Problem

Mechanical systems often exhibit physical symmetries in their configuration variables, allowing for significant reduction of their mathematical complexity arising from characteristics such as underactuation and nonlinearity. In this paper, we exploit the geometric structure of such systems to explore the following motion planning problem: given a desired trajectory in the workspace, can we explicitly solve for the appropriate inputs to follow it? We appeal to results on differential flatness from the nonlinear control literature to develop a general motion planning formulation for systems with symmetries and constraints, which also applies to both fully constrained and unconstrained kinematic systems. We conclude by demonstrating the utility of our results on several canonical mechanical systems found in the locomotion literature.

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