in this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using b-spline curves. the trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. due to gait design considerations it is desired to minimize the required torques in a cycle of gait. similar to caterpillars,...

Several optimal three-dimensional orbital transfer problems are solved for thrust-limited spacecrafts using collocation and nonlinear programming techniques. The solutions for full nonlinear equations of motion are obtained where the integrals of the free Keplerian motion in three dimensions are utilized for coasting arcs. In order to limit the solution space, interior-point constraints are use...

In this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using B-spline curves. The trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. Due to gait design considerations it is desired to minimize the required torques in a cycle of gait. Similar to caterpillars,...

Economists were interested in economic stabilization policies as early as the 1930’s but the formal applications of stability theory from the classical control theory to economic analysis appeared in the early 1950’s when a number of control engineers actively collaborated with economists on economic stability and feedback mechanisms. The theory of optimal control resulting from the contributio...

the time-optimal trajectory for an airplane from some starting point to some final point is studied by many authors. here, we consider the extension of robot planer motion of dubins model in three dimensional spaces. in this model, the system has independent bounded control over both the altitude velocity and the turning rate of airplane movement in a non-obstacle space. here, in this paper a g...

economists were interested in economic stabilization policies as early as the 1930’s but the formal applications of stability theory from the classical control theory to economic analysis appeared in the early 1950’s when a number of control engineers actively collaborated with economists on economic stability and feedback mechanisms. the theory of optimal control resulting from the contributio...

The optimal barbell trajectory for snatch weightlifting has been achieved empirically by several researchers. They have studied the differences between the elite weightlifters’ movement patterns and suggested three optimal barbell trajectories (type A, B, and C). But they didn’t agree for introducing the best trajectory. One of the reasons is this idea that the selected criterion by researchers...

This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...

this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...