EXC IntCDC Research Project 26 'AI-supported Collaborative Control and Trajectory Generation of Mobile Manipulators for Indoor Construction Tasks'

RP26-1: AI-supported Collaborative Control and Trajectory Generation of Mobile Manipulators for Indoor Construction Tasks

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Replication Data for: Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators Jun 16, 2025 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...
Inputdata_NN.tab Jun 16, 2025 - Replication Data for: Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators Tabular Data - 7.0 MB - 24 Variables, 36000 Observations - UNF:6:AaGhFPs1QwdQQnalWUknEQ== Data Inputdata for the NN. Start joint position, the corresponding start TCP pose and the TCP desired target pose. In order to reduce the dimensionality of the input layer, the orientation is described via quaternions.
Outputdata_NN.tab Jun 16, 2025 - Replication Data for: Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators Tabular Data - 62.5 MB - 171 Variables, 36000 Observations - UNF:6:H6HShXWLHs0A/ZtcNAqZyw== Data Outputdata for the NN. The output consists of the optimal joint positions and velocities for each collocation point k ∈ [0; N], the joint accelerations for k ∈ [0; N−1] and the optimal end time.

Replication Data for: Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators

Jun 16, 2025

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...

Inputdata_NN.tab

Jun 16, 2025 - Replication Data for: Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators

Tabular Data - 7.0 MB - 24 Variables, 36000 Observations -

Data

Inputdata for the NN. Start joint position, the corresponding start TCP pose and the TCP desired target pose. In order to reduce the dimensionality of the input layer, the orientation is described via quaternions.

Outputdata_NN.tab

Jun 16, 2025 - Replication Data for: Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators

Tabular Data - 62.5 MB - 171 Variables, 36000 Observations -

Data

Outputdata for the NN. The output consists of the optimal joint positions and velocities for each collocation point k ∈ [0; N], the joint accelerations for k ∈ [0; N−1] and the optimal end time.

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