Several Approaches for the Optimization of Arm Motions of Humanoids

Daniel Lichtenecker; Gabriel Krög; Hubert Gattringer; Andreas Müller

Several Approaches for the Optimization of Arm Motions of Humanoids

Daniel Lichtenecker, Gabriel Krög, Hubert Gattringer, Andreas Müller

Institute of Robotics

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

Abstract

This paper presents several point-to-pointoptimization tasks of humanoid arm motions. The focus lies on optimization of elementary arm motions. Several cost functions for optimization tasks are defined. Tasks in respect of time optimal control, minimizing joint loads and maximizing the vertical torque of the torso are presented. The dynamic optimal control problem is transformed into a static parametric optimization problem by using B-spline curves. The optimization is carried out with the Sequential Quadratic Programming algorithm.

Original language	English
Title of host publication	Proceedings of the Joint Austrian Computer Vision and Robotics Workshop (ACVRW'20)
Place of Publication	Graz
Publisher	Verlag der Technischen Universität Graz
Number of pages	187
ISBN (Print)	978-3-85125-752-6
Publication status	Published - 2020

Fields of science

203015 Mechatronics
203022 Technical mechanics
202 Electrical Engineering, Electronics, Information Engineering
202035 Robotics
203013 Mechanical engineering

JKU Focus areas

Digital Transformation

Cite this

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title = "Several Approaches for the Optimization of Arm Motions of Humanoids",

abstract = "This paper presents several point-to-pointoptimization tasks of humanoid arm motions. The focus lies on optimization of elementary arm motions. Several cost functions for optimization tasks are defined. Tasks in respect of time optimal control, minimizing joint loads and maximizing the vertical torque of the torso are presented. The dynamic optimal control problem is transformed into a static parametric optimization problem by using B-spline curves. The optimization is carried out with the Sequential Quadratic Programming algorithm.",

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Several Approaches for the Optimization of Arm Motions of Humanoids. / Lichtenecker, Daniel; Krög, Gabriel; Gattringer, Hubert et al.
Proceedings of the Joint Austrian Computer Vision and Robotics Workshop (ACVRW'20). Graz: Verlag der Technischen Universität Graz, 2020.

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

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AU - Gattringer, Hubert

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AB - This paper presents several point-to-pointoptimization tasks of humanoid arm motions. The focus lies on optimization of elementary arm motions. Several cost functions for optimization tasks are defined. Tasks in respect of time optimal control, minimizing joint loads and maximizing the vertical torque of the torso are presented. The dynamic optimal control problem is transformed into a static parametric optimization problem by using B-spline curves. The optimization is carried out with the Sequential Quadratic Programming algorithm.

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BT - Proceedings of the Joint Austrian Computer Vision and Robotics Workshop (ACVRW'20)

PB - Verlag der Technischen Universität Graz

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