Details

Autor(en) / Beteiligte

• Eilers, Christian
• Eschmann, Jonas
• Menzenbach, Robin
• Belousov, Boris
• Muratore, Fabio
• Peters, Jan

Titel

Underactuated Waypoint Trajectory Optimization for Light Painting Photography

Ist Teil von

• 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, p.1505-1510

Ort / Verlag

IEEE

Erscheinungsjahr

2020

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the engineer to frame the problem in an optimizer-friendly way. This paper proposes a procedure that automates such problem reformulation for a class of tasks in which the desired trajectory is specified by a sequence of waypoints. The approach is based on introducing auxiliary optimization variables that represent waypoint activations. To validate the proposed method, a letter drawing task is set up where shapes traced by the tip of a rotary inverted pendulum are visualized using long exposure photography.