IEEE Robotics and Automation Society IEEE


  • Workshop Generating Optimal Paths in Humanoid and Industrial Robotics at IEEE Humanoids 2012 , Osaka, Japan, Nov 29 (organized by Katja Mombaur, Martin Felis, Florent Lamiraux and Antonio El Khoury)

    Scope: Humanoid and industrial robots are required to perform motions in more and more complex and constantly changing environments. The generation of the best possible robot motion that does not violate any constraints imposed by the environment is a challenging and important problem in both humanoid and industrial robotics. There are two different algorithmic approaches that both address this problem from different perspectives, namely path planning and numerical optimal control. Path planning is mainly interested in the determination of a feasible path in very complex environments based on geometric and kinematic models. Numerical optimal control techniques are capable to generate optimal trajectories for robot manipulators or humanoid robots taking into account the dynamics; however the treatment of a large number of environmental constraints giving rise to many local minima makes the problems very hard, if not impossible, to solve. The goal of this workshop is to gather researchers working in path planning with researchers working in optimal control, in order to give an overview of the state of the art and to discuss the issues related to combining algorithms from both fields

echord catalogue transparent