Print Email Facebook Twitter Dynamic Optimization Fabrics for Motion Generation Title Dynamic Optimization Fabrics for Motion Generation Author Spahn, M. (TU Delft Learning & Autonomous Control) Wisse, M. (TU Delft Robot Dynamics) Alonso-Mora, J. (TU Delft Learning & Autonomous Control) Date 2023 Abstract Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a desired motion behavior. We generalize this framework to dynamic scenarios and nonholonomic robots and prove that fundamental properties can be conserved. We show that convergence to desired trajectories and avoidance of moving obstacles can be guaranteed using simple construction rules of the components. In addition, we present the first quantitative comparisons between optimization fabrics and model predictive control and show that optimization fabrics can generate similar trajectories with better scalability, and thus, much higher replanning frequency (up to 500 Hz with a 7 degrees of freedom robotic arm). Finally, we present empirical results on several robots, including a nonholonomic mobile manipulator with 10 degrees of freedom and avoidance of a moving human, supporting the theoretical findings. Subject DynamicsFabricsGeometric controlmobile manipulationmotion control of manipulatorsnonholonomic motion planningOptimizationPlanningRobot kinematicsRobotsTask analysis To reference this document use: http://resolver.tudelft.nl/uuid:9e1f41b9-d087-492e-8a86-d6abd68a9e7a DOI https://doi.org/10.1109/TRO.2023.3255587 Embargo date 2023-09-29 ISSN 1552-3098 Source IEEE Transactions on Robotics, 39 (4), 2684-2699 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2023 M. Spahn, M. Wisse, J. Alonso-Mora Files PDF Dynamic_Optimization_Fabr ... ration.pdf 2.51 MB Close viewer /islandora/object/uuid:9e1f41b9-d087-492e-8a86-d6abd68a9e7a/datastream/OBJ/view