Online deformation of optimal trajectories for constrained nonprehensile manipulation

Alexander Pekarovskiy; Thomas Nierhoff; Jochen Schenek; Yoshihiko Nakamura; Sandra Hirche; Martin Buss

doi:10.1109/ICRA.2015.7139531

Online deformation of optimal trajectories for constrained nonprehensile manipulation

Alexander Pekarovskiy, Thomas Nierhoff, Jochen Schenek, Yoshihiko Nakamura, Sandra Hirche, Martin Buss

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Scopus citations

Abstract

This paper discusses an online dynamic motion generation scheme for nonprehensile object manipulation by using a set of predefined motions and a trajectory deformation algorithm capable of incorporating positional and velocity boundary constraints. By creating optimal trajectories offline and deforming them online, computational complexity during execution is reduced considerably. As tight convex hulls of the deformed trajectories can be found, possible obstacles or workspace boundaries can be circumnavigated precisely without collision. The approach is verified through experiments on an inclined planar air-table for volleyball scenario using two 3-DoF robots.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2481-2487
Number of pages	7
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7139531
State	Published - 29 Jun 2015
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: 26 May 2015 → 30 May 2015

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	June
Volume	2015-June
ISSN (Print)	1050-4729

Conference

Conference	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	26/05/15 → 30/05/15

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10.1109/ICRA.2015.7139531

Cite this

Pekarovskiy, A., Nierhoff, T., Schenek, J., Nakamura, Y., Hirche, S., & Buss, M. (2015). Online deformation of optimal trajectories for constrained nonprehensile manipulation. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 2481-2487). Article 7139531 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139531

Pekarovskiy, Alexander ; Nierhoff, Thomas ; Schenek, Jochen et al. / Online deformation of optimal trajectories for constrained nonprehensile manipulation. 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 2481-2487 (Proceedings - IEEE International Conference on Robotics and Automation; June).

@inproceedings{a12d4e8f46e44218a9129c3abbfb3aab,

title = "Online deformation of optimal trajectories for constrained nonprehensile manipulation",

abstract = "This paper discusses an online dynamic motion generation scheme for nonprehensile object manipulation by using a set of predefined motions and a trajectory deformation algorithm capable of incorporating positional and velocity boundary constraints. By creating optimal trajectories offline and deforming them online, computational complexity during execution is reduced considerably. As tight convex hulls of the deformed trajectories can be found, possible obstacles or workspace boundaries can be circumnavigated precisely without collision. The approach is verified through experiments on an inclined planar air-table for volleyball scenario using two 3-DoF robots.",

author = "Alexander Pekarovskiy and Thomas Nierhoff and Jochen Schenek and Yoshihiko Nakamura and Sandra Hirche and Martin Buss",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",

year = "2015",

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doi = "10.1109/ICRA.2015.7139531",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

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edition = "June",

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Pekarovskiy, A, Nierhoff, T, Schenek, J, Nakamura, Y, Hirche, S & Buss, M 2015, Online deformation of optimal trajectories for constrained nonprehensile manipulation. in 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7139531, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 2481-2487, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139531

Online deformation of optimal trajectories for constrained nonprehensile manipulation. / Pekarovskiy, Alexander; Nierhoff, Thomas; Schenek, Jochen et al.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2481-2487 7139531 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Nierhoff, Thomas

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AU - Nakamura, Yoshihiko

AU - Hirche, Sandra

AU - Buss, Martin

PY - 2015/6/29

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N2 - This paper discusses an online dynamic motion generation scheme for nonprehensile object manipulation by using a set of predefined motions and a trajectory deformation algorithm capable of incorporating positional and velocity boundary constraints. By creating optimal trajectories offline and deforming them online, computational complexity during execution is reduced considerably. As tight convex hulls of the deformed trajectories can be found, possible obstacles or workspace boundaries can be circumnavigated precisely without collision. The approach is verified through experiments on an inclined planar air-table for volleyball scenario using two 3-DoF robots.

AB - This paper discusses an online dynamic motion generation scheme for nonprehensile object manipulation by using a set of predefined motions and a trajectory deformation algorithm capable of incorporating positional and velocity boundary constraints. By creating optimal trajectories offline and deforming them online, computational complexity during execution is reduced considerably. As tight convex hulls of the deformed trajectories can be found, possible obstacles or workspace boundaries can be circumnavigated precisely without collision. The approach is verified through experiments on an inclined planar air-table for volleyball scenario using two 3-DoF robots.

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DO - 10.1109/ICRA.2015.7139531

M3 - Conference contribution

AN - SCOPUS:84938270362

T3 - Proceedings - IEEE International Conference on Robotics and Automation

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Pekarovskiy A, Nierhoff T, Schenek J, Nakamura Y, Hirche S , Buss M. Online deformation of optimal trajectories for constrained nonprehensile manipulation. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 2481-2487. 7139531. (Proceedings - IEEE International Conference on Robotics and Automation; June). doi: 10.1109/ICRA.2015.7139531

Online deformation of optimal trajectories for constrained nonprehensile manipulation

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