Learning-based Initialization of Trajectory Optimization for Path-following Problems of Redundant Manipulators
Minsung Yoon,Mincheul Kang,Daehyung Park,Sung-Eui Yoon,Minsung Yoon,Mincheul Kang,Daehyung Park,Sung-Eui Yoon
Trajectory optimization (TO) is an efficient tool to generate a redundant manipulator's joint trajectory following a 6-dimensional Cartesian path. The optimization performance largely depends on the quality of initial trajectories. However, the selection of a high-quality initial trajectory is non-trivial and requires a considerable time budget due to the extremely large space of the solution traj...
