@inproceedings{eccae60af26341ba9ec96b2f180de875,
title = "Dynamically feasible task-constrained motion planning with moving obstacles",
abstract = "We present a randomized algorithm for planning dynamically feasible motions of robots subject to geometric task constraints in the presence of moving obstacles. The proposed method builds upon our previous results on task-constrained motion planning with moving obstacles. With respect to our previous formulation, the inclusion of bounds on the available actuator torques leads to the adoption of an acceleration-level motion generation scheme. Therefore, the new planner must operate in a task-constrained state space extended with time. The generated trajectories are collision-free, obey velocity and torque bounds, and satisfy the task constraint with arbitrary accuracy. The effectiveness of the proposed approach is shown by results on various scenarios involving a 7-dof manipulator.",
author = "Massimo Cefalo and Giuseppe Oriolo",
year = "2014",
month = sep,
day = "29",
doi = "10.1109/ICRA.2014.6907130",
language = "English",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2045--2050",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
address = "United States",
note = "2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",
}