@inproceedings{baa0c490e87c4a15b78f7f064404f892,
title = "A stochastic dynamic motion planning algorithm for object-throwing",
abstract = "A novel algorithm is proposed for offline motion planning of a robotic arm to perform a throw task of an object to reach a goal target. The planning algorithm searches for a throw trajectory that could be performed under kinematic and dynamic (i.e., kinodynamic) constraints. We parameterize the throw trajectory by a time-invariant high-dimensional vector. Then, the kinodynamic and target constraints are formulated in terms of time and the parameterization vector. These constraints form time-varying subspaces in the parameterization space. We present a stochastic method for finding a feasible and optimal solution within the subspace. The method generates a number of random points within the parameterization space and checks their feasibility using an adaptive search. The algorithm is guaranteed under a known probability to find a solution if one exists. We present simulations and experiments on a 3R manipulator to validate the method.",
author = "Avishai Sintov and Amir Shapiro",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",
year = "2015",
month = jun,
day = "29",
doi = "https://doi.org/10.1109/ICRA.2015.7139530",
language = "الإنجليزيّة",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "June",
pages = "2475--2480",
booktitle = "2015 IEEE International Conference on Robotics and Automation, ICRA 2015",
address = "الولايات المتّحدة",
edition = "June",
}