Ballistic motion planning

@article{Campana2016BallisticMP,
  title={Ballistic motion planning},
  author={Myl{\`e}ne Campana and Jean-Paul Laumond},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={1410-1416}
}
This paper addresses the motion planning problem of a jumping point-robot. Each jump consists in a ballistic motion linking two positions in contact with obstacle surfaces. A solution path is thus a sequence of parabola arcs. The originality of the approach is to consider non-sliding constraints at contact points: slipping avoidance is handled by constraining takeoff and landing velocity vectors to 3D friction cones. Furthermore the magnitude of these velocities is bounded. The ballistic motion… CONTINUE READING

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