Object manipulation with collision avoidance using complementarity constraints

A controller controls a motion of an object performing a task for changing a state of the object from a start state to an end state while avoiding collision of the object with an obstacle according to an optimal trajectory determined by solving an optimization problem of the dynamics of the object p...

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Bibliographic Details
Main Authors Raghunathan, Arvind, Romeres, Diego, Jha, Devesh
Format Patent
LanguageEnglish
Published 30.01.2024
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:A controller controls a motion of an object performing a task for changing a state of the object from a start state to an end state while avoiding collision of the object with an obstacle according to an optimal trajectory determined by solving an optimization problem of the dynamics of the object producing an optimal trajectory for performing the task subject to constraints on a solution of first-order stationary conditions modeling a minimum distance between the convex hull of the object and the convex hull of the obstacle using complementarity constraints.
Bibliography:Application Number: US202117333530