The Space Shuttle’s two-dimensional entry trajectory planning method is extended to three dimensions. Both angle-of-attack and angle-of-bank variations are used to control the entry trajectory. The trajectory planning is done with a third-order system of differential equations using the drag and lateral accelerations as intermediate controls. The reduced-order planning problem is solved first i...

The Shuttle's two-dimensional entry trajectory planning method is extended to threedimensions. Both angle of attack and angle of bank variations are used to control the entry trajectory. The trajectory planning is done with a third-order system of di erential equations using the drag and lateral accelerations as intermediate controls. The reducedorder planning problem is solved as an optimal co...

cable driven parallel manipulator (cdpm) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. it is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span cdpm. these terms complicate governing equation of motion in a way that special tactic are applied for simu...

| This paper addresses trajectory planning in dynamic workspaces, i.e. trajectory planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like the concept of connguration space which is a tool to formulate path planning proble...

In this work, we present simultaneous trajectory estimation and planning (STEAP) a unified approach to solving continuous-time trajectory estimation and planning problems. Although, these problems are usually considered separately, within our framework we show how estimation and planning can benefit from each other and remove redundancy during computation. Each time-step the robot is tasked wit...

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a representation of the effects of a task and (2) find an optimal trajectory that will reproduce these effects in a new environment. We represent robot skills in terms of ...

Human speech production is often described as an optimisation process, which tends to maximise the effectiveness of the communication process minimising the effort involved in the production. The aim of this paper is to investigate this highly complex problem with two dimensionally reduced spaces corresponding to different computational models. Since the highdimensional parameter space which us...

We provide a unified probabilistic framework for trajectory estimation and planning. The key idea is to view these two problems, usually considered separately, as a single problem. At each time-step the robot is tasked with finding the complete continuous-time trajectory from start to goal. This can be quite difficult; the robot must contend with a potentially high-degreeof-freedom (DOF) trajec...

High-speed assembly makes strict demands on path and trajectory planning systems. In such systems the stages of path planning, trajectory planning, andìow-level' control are normally separated, which admits functional simplicity but may not produce the most useful trajectories. Thus we have been exploring the possibility of merging the levels, by allowing the path planner to generate the trajec...

Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We believe that these limits gain paramount importance when the complexity of the terrains to be traversed increases. For this reason we propose two new six-dimensional bounded polytopes named the Actuation Wrench Polytope (A...