On Fast Jerk-Continuous Motion Functions with Higher-Order Kinematic Restrictions for Online Trajectory Generation

Trajectory generation for kinematic legged robots

We present a general trajectory generation scheme for a class of “kinematic” legged robots. The method does not depend upon the number of legs, nor is it based on foot placement concepts. Instead, our method is based on an extension of a nonlinear trajectory generation algorithm for smooth systems to the legged case, where the relevant mechanics are not smooth. Our extension is based on the rea...

Inverse Kinematics: New Method for Minimum Jerk Trajectory Generation

The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while minimizing the jerk of the joints trajectories. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, no contraintes on the accelerations or the jerk of the obtained trajectories can ...

New Damped-Jerk trajectory for vibration reduction

This paper derives a jerk-shaped profile to address the vibration reduction of underdamped flexible dynamics of motion system. The jerk-limited profile is a widespread smooth command pattern used by modern motion systems. The ability of the jerk-limited profile to cancel the residual vibration of an undamped flexible mode is clearly explained using an equivalent continuous filter representation...

The Generation of a Higher-Order Online Partial Evaluator

We address the problem of generating an online partial evaluator for a higher-order, functional language from an appropriate interpreter using a state-of-the-art ooine partial evaluator. To ensure termination of the generated online spe-cializer the interpreter computes a self-embedding property on closure values and data structures. This guarantees termination whenever there is no static loop ...

Deforestation for Higher-Order Functions