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SELECT * FROM publications WHERE Record_Number=11325
Reference TypeConference Proceedings
Author(s)Eilers, C.; Eschmann, J.; Menzenbach, R.; Belousov, B.; Muratore, F.; Peters, J.
TitleUnderactuated Waypoint Trajectory Optimization for Light Painting Photography
Journal/Conference/Book TitleProceedings of the IEEE International Conference on Robotics and Automation (ICRA)
AbstractDespite 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.
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