DEVICE AND METHOD FOR PLANNING INTERACTION RAILWAYS
Patent Information
- Application Number
- DE602021044949
- Authority / Receiving Office
- DE · DE
- Patent Type
- Patents
- Current Assignee / Owner
- Priority Date
- 2020-05-29
- Filing Date
- 2021-03-23
- Publication Date
- 2025-12-24
- Estimated Expiration
- 2041-03-23
AI Technical Summary
Existing robotic motion planning techniques struggle to efficiently plan contact-interaction trajectories due to the non-smooth dynamics introduced by physical contacts, which preclude the use of gradient-based solvers and require computationally impractical predefined contact schedules or tuning of contact models.
A relaxed contact model that uses virtual forces to represent contact dynamics, allowing smooth optimization techniques by iteratively adjusting penalty values on virtual stiffness, minimizing virtual forces, and ensuring physically accurate trajectories without sensitivity to initialization.
Enables efficient and accurate planning of contact-interaction trajectories for robotic manipulation and locomotion tasks, reducing computational inefficiencies and physical inaccuracies, while maintaining convergence and task completion.