Newton-type algorithms for dynamics-based robot movement optimization

IEEE Transactions on Robotics

Volumn 21, Issue 4, 2005, Pages 657-667

  Lee, Sung Hee ^a   Kim, Junggon ^b   Park, F C ^b   Kim, Munsang ^c   Bobrow, James E ^d  

^a POLYTECHNIC UNIVERSITY   (United States)

^b Seoul National University   (South Korea)

^c Korea Institute of Science and Technology   (South Korea)

^d University of California at Irvine   (United States)

Author keywords

Closed chain; Movement optimization; Multibody system dynamics; Newton's method; Redundant actuation; Robot dynamics

Indexed keywords

ACTUATORS; ALGORITHMS; COMPUTATIONAL COMPLEXITY; EQUATIONS OF MOTION; MOTION PLANNING; OPTIMIZATION; SENSORS;

MOVEMENT OPTIMIZATION; MULTIBODY SYSTEM DYNAMICS; NEWTON METHOD; REDUNDANT ACTUATION; ROBOT DYNAMICS;

ROBOTICS;

EID: 24144447015     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.842336     Document Type: Article

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