cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation

This paper explores the problem of collision-free motion generation for manipulators by formulating it as a global motion optimization problem. We develop a parallel optimization technique to solve this problem and demonstrate its effectiveness on massively parallel GPUs. We show that combining simp...

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Veröffentlicht in:	arXiv.org 2023-11
Hauptverfasser:	Balakumar Sundaralingam, Siva Kumar Sastry Hari, Fishman, Adam, Garrett, Caelan, Karl Van Wyk, Blukis, Valts, Millane, Alexander, Oleynikova, Helen, Handa, Ankur, Ramos, Fabio, Ratliff, Nathan, Fox, Dieter
Format:	Artikel
Sprache:	eng
Schlagworte:	Collision avoidance Robot dynamics Robotics Solvers Trajectory optimization
Online-Zugang:	Volltext
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