Publication Details Publications
Publication Details
| Reference Type | Conference Proceedings |
| Author(s) | Eilers, C.; Eschmann, J.; Menzenbach, R.; Belousov, B.; Muratore, F.; Peters, J. |
| Year | 2020 |
| Title | Underactuated Waypoint Trajectory Optimization for Light Painting Photography |
| Journal/Conference/Book Title | Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) |
| Keywords | SKILLS4ROBOTS |
| Abstract | 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. |
| Custom 1 | https://www.youtube.com/watch?v=IiophaKtWG0&feature=youtu.be |
| Link to PDF | https://www.ias.informatik.tu-darmstadt.de/uploads/Team/BorisBelousov/icra20_eilers.pdf |
