Robust trajectory design for object throwing based on sensitivity for model uncertainties

Masafumi Okada; Alexander Pekarovskiy; Martin Buss

doi:10.1109/ICRA.2015.7139623

Robust trajectory design for object throwing based on sensitivity for model uncertainties

Masafumi Okada, Alexander Pekarovskiy, Martin Buss

Chair of Automatic Control Engineering

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

9 Scopus citations

Abstract

Throwing an object by a powered robot system is of great importance in unmanned environments. In this paper, we consider the problem of throwing a point-mass object to minimize uncertainty in the object's landing position, given uncertainty in (1) the robot's initial configuration and (2) friction at the joints. Our analysis assumes that the robot's throw is executed using open-loop torque commands, and it relies on the linearized sensitivities of (a) landing location with respect to release state, (b) release state with respect to initial robot configuration and (c) joint friction. Moreover, the effectiveness of the proposed method is evaluated by Monte-Carlo simulations.

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	3089-3094
Number of pages	6
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7139623
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.2015.7139623

Cite this

Okada, M., Pekarovskiy, A., & Buss, M. (2015). Robust trajectory design for object throwing based on sensitivity for model uncertainties. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 3089-3094). Article 7139623 (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.2015.7139623

Okada, Masafumi ; Pekarovskiy, Alexander ; Buss, Martin. / Robust trajectory design for object throwing based on sensitivity for model uncertainties. 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 3089-3094 (Proceedings - IEEE International Conference on Robotics and Automation; June).

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title = "Robust trajectory design for object throwing based on sensitivity for model uncertainties",

abstract = "Throwing an object by a powered robot system is of great importance in unmanned environments. In this paper, we consider the problem of throwing a point-mass object to minimize uncertainty in the object's landing position, given uncertainty in (1) the robot's initial configuration and (2) friction at the joints. Our analysis assumes that the robot's throw is executed using open-loop torque commands, and it relies on the linearized sensitivities of (a) landing location with respect to release state, (b) release state with respect to initial robot configuration and (c) joint friction. Moreover, the effectiveness of the proposed method is evaluated by Monte-Carlo simulations.",

author = "Masafumi Okada and Alexander Pekarovskiy and Martin Buss",

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Okada, M, Pekarovskiy, A & Buss, M 2015, Robust trajectory design for object throwing based on sensitivity for model uncertainties. in 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7139623, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 3089-3094, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139623

Robust trajectory design for object throwing based on sensitivity for model uncertainties. / Okada, Masafumi; Pekarovskiy, Alexander; Buss, Martin.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 3089-3094 7139623 (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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Okada M, Pekarovskiy A, Buss M. Robust trajectory design for object throwing based on sensitivity for model uncertainties. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 3089-3094. 7139623. (Proceedings - IEEE International Conference on Robotics and Automation; June). doi: 10.1109/ICRA.2015.7139623

Robust trajectory design for object throwing based on sensitivity for model uncertainties

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