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Replication Data for: Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators
Jun 16, 2025 - EXC IntCDC Research Project 26 'AI-supported Collaborative Control and Trajectory Generation of Mobile Manipulators for Indoor Construction Tasks'
Hierholz, Alice; Gienger, Andreas; Sawodny, Oliver, 2025, "Replication Data for: Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators", https://doi.org/10.18419/DARUS-5029, DaRUS, V1, UNF:6:4JKlZHhid5dpl97qNrg3EQ== [fileUNF]
Dataset containing 36000 trajectories generated by an Optimal Control Problem (OCP) for a mobile manipulator with 10 degrees of freedom. The OCP is solved for an initial joint state configuration and a unique randomly chosen desired tool-center-point (TCP) target pose which lies within a certain goal region. The desired TCP position is computed by...
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