Agile, steady response of inertial, constrained holonomic robots using nonlinear, anisotropic dampening forces

Ahmad A. Masoud

doi:10.1109/cdc.2006.376964

Agile, steady response of inertial, constrained holonomic robots using nonlinear, anisotropic dampening forces

Ahmad A. Masoud^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

In this paper the harmonic potential field (HPF) approach to motion planning is adapted to work with second order mechanical systems. The extension is based on a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs). It is shown that NADFs are effective aids for planning spatially-constrained kinodynamic trajectories for mechanical systems. Theoretical developments and simulation results are provided in the paper.

Original language	English
Title of host publication	Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6167-6172
Number of pages	6
ISBN (Print)	1424401712, 9781424401710
DOIs	https://doi.org/10.1109/cdc.2006.376964
State	Published - 2006

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/cdc.2006.376964

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Masoud, A. A. (2006). Agile, steady response of inertial, constrained holonomic robots using nonlinear, anisotropic dampening forces. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 6167-6172). Article 4177037 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/cdc.2006.376964

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abstract = "In this paper the harmonic potential field (HPF) approach to motion planning is adapted to work with second order mechanical systems. The extension is based on a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs). It is shown that NADFs are effective aids for planning spatially-constrained kinodynamic trajectories for mechanical systems. Theoretical developments and simulation results are provided in the paper.",

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Masoud, AA 2006, Agile, steady response of inertial, constrained holonomic robots using nonlinear, anisotropic dampening forces. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177037, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 6167-6172. https://doi.org/10.1109/cdc.2006.376964

Agile, steady response of inertial, constrained holonomic robots using nonlinear, anisotropic dampening forces. / Masoud, Ahmad A.
Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. p. 6167-6172 4177037 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper the harmonic potential field (HPF) approach to motion planning is adapted to work with second order mechanical systems. The extension is based on a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs). It is shown that NADFs are effective aids for planning spatially-constrained kinodynamic trajectories for mechanical systems. Theoretical developments and simulation results are provided in the paper.

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Masoud AA. Agile, steady response of inertial, constrained holonomic robots using nonlinear, anisotropic dampening forces. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc. 2006. p. 6167-6172. 4177037. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/cdc.2006.376964

Agile, steady response of inertial, constrained holonomic robots using nonlinear, anisotropic dampening forces

Abstract

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ASJC Scopus subject areas

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