Single task optimization-based planar box delivery motion simulation and experimental validation

Yujiang Xiang, Shadman Tahmid, Paul Owens, James Yang

Research output: Contribution to journalArticlepeer-review


Box delivery is a complicated task and it is challenging to predict the box delivery motion associated with the box weight, delivering speed, and location. This paper presents a single task-based inverse dynamics optimization method for determining the planar symmetric optimal box delivery motion (multi-task jobs). The design variables are cubic B-spline control points of joint angle profiles. The objective function is dynamic effort, i.e., the time integral of the square of all normalized joint torques. The optimization problem includes various constraints. Joint angle profiles are validated through experimental results using root-mean-square-error (RMSE) and Pearson's correlation coefficient. This research provides a practical guidance to prevent injury risks in joint torque space for workers who lift and deliver heavy objects in their daily jobs.

Original languageEnglish
Article number024501
JournalJournal of Mechanisms and Robotics
Issue number2
StatePublished - Apr 2021


  • Box delivery
  • Carrying
  • Control
  • Dynamics
  • Injury risks
  • Inverse dynamic optimization
  • Lifting
  • Mobile robots
  • Transition


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