Welcome to Scribd. Sign in or start your free trial to enjoy unlimited e-books, audiobooks & documents.Find out more
Download
Standard view
Full view
of .
Look up keyword
Like this
3Activity
0 of .
Results for:
No results containing your search query
P. 1
Mrinal Kalakrishnan: CHOMP Motion Planner

Mrinal Kalakrishnan: CHOMP Motion Planner

Ratings: (0)|Views: 15,007|Likes:
Published by Willow Garage
Presentation by Mrinal Kalakrishnan of USC on the CHOMP Motion Planner, which he worked on during his summer internship at Willow Garage.
Presentation by Mrinal Kalakrishnan of USC on the CHOMP Motion Planner, which he worked on during his summer internship at Willow Garage.

More info:

Published by: Willow Garage on Aug 29, 2009
Copyright:Attribution Non-commercial

Availability:

Read on Scribd mobile: iPhone, iPad and Android.
download as PDF, TXT or read online from Scribd
See more
See less

07/10/2013

pdf

text

original

 
Smooth Motion Planning and Control
Willow Garage Internship, Summer 2009Mrinal Kalakrishnan
University of Southern California
August 28, 2009
Mrinal Kalakrishnan (USC)Smooth Motion Planning and ControlAugust 28, 2009 1 / 10
 
Overview
Smooth Motion Planning
CHOMP - CovariantHamiltonian Optimization forMotion Planning, Ratliff et. al.,ICRA 2009.Implemented in the
chomp_motion_planner
ROS package.
Smooth Control
Automatic spline trajectorygeneration from waypoints.Usable by all motion planners.Implemented in the
spline_smoother
ROSpackage.
Mrinal Kalakrishnan (USC)Smooth Motion Planning and ControlAugust 28, 2009 2 / 10
 
CHOMP
Covariant Hamiltonian Optimization for Motion Planning, Ratliff et. al., ICRA 2009
Sampling based planners...Find feasible collision-free paths very fast.Typically produce jerky / redundant motion.Paths require post-processing, smoothing, optimization.
Mrinal Kalakrishnan (USC)Smooth Motion Planning and ControlAugust 28, 2009 3 / 10

Activity (3)

You've already reviewed this. Edit your review.
1 thousand reads
1 hundred reads
Murali Krishnan liked this

You're Reading a Free Preview

Download
scribd
/*********** DO NOT ALTER ANYTHING BELOW THIS LINE ! ************/ var s_code=s.t();if(s_code)document.write(s_code)//-->