The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

This paper presents an optimal shape trajectory planner for shape-accelerated underactuated balancing systems, which are destabilized by gravitational forces. These systems have unactuated shape variables and fully actuated external variables. They also have the same number of actuated and unactuated degrees of freedom. Their equations of motion result in nonholonomic acceleration/dynamic constraints, which relate the acceleration of external variables to the position, velocity and acceleration of shape variables. This paper describes a procedure to use the dynamic constraints for planning shape trajectories, which when tracked will result in optimal tracking of desired external configuration trajectories. Examples of planned optimal shape trajectories for the 3D ballbot system, which is a 3D omnidirectional wheeled inverted pendulum, are also presented.

Keywords

Underactuated Systems, Balancing Robots, Trajectory Planning

Notes

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Associated Project(s): Dynamically-Stable Mobile Robots in Human Environments

Text Reference

Umashankar Nagarajan, "Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems," Proceedings of 2010 Robotics: Science and Systems, June, 2010.

BibTeX Reference

@inproceedings{Nagarajan_2010_6651,
   author = "Umashankar Nagarajan",
   title = "Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems",
   booktitle = "Proceedings of 2010 Robotics: Science and Systems",
   month = "June",
   year = "2010",
}

The Robotics Institute

Menu