Abstract
In this paper, we propose a new nonlinear programming based motion generator for a wheeled inverted pendulum manipulator. Our method utilizes L-BFGS-B method which can handle inequality constraints intrinsically and whose computational cost is low. Our method can generate various motions of the robot only by setting up an objective function for a given task. Through computer simulation, we confirm the validity of our method.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.