Look Who it Was Random video

Efficient Stochastic Multicriteria Arm Trajectory Optimization

636 views · Published 6 August 2017 · 4:21 · Indexed 5 October 2026

Channel: nimbro · 2017 · Science & Technology

Watch on YouTube

Video attachement to paper:
Dmytro Pavlichenko and Sven Behnke:
Efficient Stochastic Multicriteria Arm Trajectory Optimization
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017. 
http://www.ais.uni-bonn.de/papers/IROS_2017_Pavlichenko.pdf

Performing manipulation with robotic arms requires
a method for planning trajectories that takes multiple
factors into account: collisions, joint limits, orientation constraints,
torques, and duration of a trajectory. We present an
approach to efficiently optimize arm trajectories with respect
to multiple criteria. Our work extends Stochastic Trajectory
Optimization for Motion Planning (STOMP). We optimize
trajectory duration by including velocity into the optimization.
We propose an efficient cost function with normalized components,
which allows prioritizing components depending on userspecified
requirements. Optimization is done in two stages: first
with a partial cost function and in the second stage with full
costs. We compare our method to state-of-the art methods. In
addition, we perform experiments on real robots: centaur-like
robot Momaro and an industrial manipulator.

More from this channel