Motion Planning and Control for Hilare Pulling a Trailer

Our architecture is also less conservative than other ones: a local velocity planner based on the lateral acceleration constraint was designed in order to compute a heuristic speed

(ROBOT HUMAN_1 Glue_01 ) (ROBOT AssemblyPost1 Stock_Far ) GoTo (ROBOT Cleaner_02 ) Grab (ROBOT Stock_Far AssemblyPost2 Cleaner_02 ) Bring (ROBOT HUMAN_2 Bracket_02 ) GiveBrackets

3) We show a practical, but non-complete way to construct the space of irreducible trajectories by using the cross section of the workspace volume of configurations. 4) We show how

The obtained reference velocity is used as an input to the walking pattern generator that will calculate the footsteps of the robot in real time, and also as an input to the

Our approach approximates the neighborhood of this pa- rameterization and enables fast collision checking in this neighborhood, which is applied as an efficient approach to

– open-loop motion control is proposed using flatness;.. – closed-loop robust path tracking is held through the design of a unique CRONE controller... After recalling

The trajectory planning and the closed loop system use a convenient model given by the Bernoulli’s historical cable equation, completed with a damping factor, that linearly depends

This list of specifications is assumed to translate into a finite set of (possibly nonlinear) inequalities to be satisfied by c and p. This makes it possible