Motion Planning of Under-actuated Mechanical Systems: Analysis and Improvement of Convergence for Iterative Methods

M. Iwamura, H. Ozaki, and A. Mohri (Japan)


under-actuated systems, motion planning, iterative methods, convergence analysis


For the motion planning problem, an iterative algorithm has been proposed as a general method. However, when we apply the algorithm to the problem of under-actuated mechanical systems, there are many cases that the convergence performance becomes too poor and we can not obtain the solution. In this paper, we investigate the reason why the performance becomes poor and propose a method to improve the convergence performance. The effectiveness of the proposed method is shown by using a newly introduced index that expresses the convergence performance.

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