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About this paper
Jeffrey Ichnowski, Yahav Avigal, Yi Liu, Ken Goldberg
GOMP-FIT, developed at AUTOLab at UC Berkeley, introduces a motion planning framework that integrates explicit end-effector acceleration constraints for reliably transporting open-top and fragile objects at high speeds. This system achieved a 0.0% spill rate for open-top containers and effectively controlled acceleration magnitudes for fragile items, demonstrating successful management of object dynamics with minimal impact on motion duration.
Key insights
- Explicitly formulating and integrating end-effector acceleration constraints (both alignment and magnitude) is more effective for preventing spills and damage in high-speed transport than relying on general jerk limits or simply reducing speed.
- A time-optimizing sequential convex programming approach can effectively combine complex constraints such as grasp pose optimization, obstacle avoidance, and specialized end-effector acceleration limits into a single, cohesive framework.
- Minimizing sum-of-squared jerks in the objective function proves more compatible with the linearization of end-effector acceleration constraints, facilitating smoother trajectories and enabling joints near the end-effector to prioritize fulfilling problem-specific constraints.
Summary by alphaXiv.
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