Trajectory Optimization for Distributed Manipulation by Shaping a Physical Field

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00366840" target="_blank" >RIV/68407700:21230/23:00366840 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/ICRA48891.2023.10160720" target="_blank" >http://dx.doi.org/10.1109/ICRA48891.2023.10160720</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICRA48891.2023.10160720" target="_blank" >10.1109/ICRA48891.2023.10160720</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Trajectory Optimization for Distributed Manipulation by Shaping a Physical Field

Popis výsledku v původním jazyce

Trajectory optimization is used to solve various planning tasks. In this paper we present a optimization-based method that solves a planning problem for multiple independent objects manipulated by a spatially continuous physical field. The field is generated and controlled (shaped) in real time by an array of actuators. In the paper we first formulate a trajectory optimization problem and a related initialization scheme, and then we demonstrate the proposed method using an experimental platform for distributed magnetic manipulation. The demonstrated task is that of planar reconfiguration of an ensemble of multiple objects, which significantly benefits from the inherent parallelism of the manipulation enabled by the array of actuators shaping the physical field. We show that the system can rearrange up to eight objects simultaneously while avoiding collisions.

Název v anglickém jazyce

Trajectory Optimization for Distributed Manipulation by Shaping a Physical Field

Popis výsledku anglicky

Trajectory optimization is used to solve various planning tasks. In this paper we present a optimization-based method that solves a planning problem for multiple independent objects manipulated by a spatially continuous physical field. The field is generated and controlled (shaped) in real time by an array of actuators. In the paper we first formulate a trajectory optimization problem and a related initialization scheme, and then we demonstrate the proposed method using an experimental platform for distributed magnetic manipulation. The demonstrated task is that of planar reconfiguration of an ensemble of multiple objects, which significantly benefits from the inherent parallelism of the manipulation enabled by the array of actuators shaping the physical field. We show that the system can rearrange up to eight objects simultaneously while avoiding collisions.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2023 IEEE International Conference on Robotics and Automation

ISBN

979-8-3503-2365-8

ISSN

1050-4729

e-ISSN

2577-087X

Počet stran výsledku

7

Strana od-do

10111-10117

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Londýn

Datum konání akce

29. 5. 2023

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001048371102113