A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems
Anusha Srikanthan,Fengjun Yang,Igor Spasojevic,Dinesh Thakur,Vijay Kumar,Nikolai Matni,Anusha Srikanthan,Fengjun Yang,Igor Spasojevic,Dinesh Thakur,Vijay Kumar,Nikolai Matni
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory generation, and the low layer ensures approximate tracking of this trajectory via feedback control. While such layered control architectures are standard and work we...
