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Dynamic optimization of N-joint robotic limb deployments

Fink, Wolfgang and Huntsberger, Terrance L. and Aghazarian, Hrand (2010) Dynamic optimization of N-joint robotic limb deployments. Journal of Field Robotics, 27 (3). pp. 268-280. ISSN 1556-4959. http://resolver.caltech.edu/CaltechAUTHORS:20100525-100424889

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Abstract

We describe an approach using a stochastic optimization framework (SOF) for operating complex mobile systems with several degrees of freedom (DOFs), such as robotic limbs with N joints, in environments that can contain obstacles. As part of the SOF, we have employed an efficient simulated annealing algorithm normally used in computationally highly expensive optimization and search problems such as the traveling salesman problem and protein design. This algorithm is particularly suited to run onboard industrial robots, robots in telemedicine, remote spacecraft, planetary landers, and rovers, i.e., robotic platforms with limited computational capabilities. The robotic limb deployment optimization approach presented here offers an alternative to time-intensive robotic arm deployment path planning algorithms in general and in particular for robotic limb systems in which closed-form solutions do not exist. Application examples for a (N = 4)-DOF arm on a planetary exploration rover are presented.


Item Type:Article
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http://dx.doi.org/10.1002/rob.20323 DOIUNSPECIFIED
Additional Information:© 2009 Wiley Periodicals, Inc. Received 10 December 2008; accepted 28 August 2009. The work described was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. The research was supported by the JPL Research and Technology Development Program.
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JPL Research and Technology Development UNSPECIFIED
Record Number:CaltechAUTHORS:20100525-100424889
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20100525-100424889
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:18422
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 May 2010 17:51
Last Modified:26 Dec 2012 12:04

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