Trajectory Generation on Various Robot Platforms (val)
10Computation Time (s)TOPP-RA
Evaluation Results
| Method | Links | |
|---|---|---|
| TOPP-RAYear / Venue=2018 / T-RO, Constraints=kin. (V, A), dyn. (torque), Online/Offline=offline, Envir. type=static, Safety/Coll. aware=no, Optimality=path-constrained, time-optimal, Validation (Robot type)=simulation (6-DoF arm & 50-DoF legged robot)2026.02 | 10 | |
| ARMTDYear / Venue=2020 / RSS, Constraints=kinematic (P, V, A), Online/Offline=hybrid, Envir. type=dynamic, Safety/Coll. aware=yes, Optimality=arbitrary user-specified cost, Validation (Robot type)=sim. & exp. (Fetch mobile manipulator)2026.02 | 10 | |
| Pupa’sYear / Venue=2021 / RA-L, Constraints=kinematic (P, V, A), Online/Offline=online, Envir. type=dynamic, Safety/Coll. aware=yes, Optimality=max. admissible speed along the path, Validation (Robot type)=sim. & exp. (Pilz PRBT 6-DoF arm)2026.02 | 10 | |
| RuckigYear / Venue=2021 / RSS, Constraints=kinematic (P, V, A, J), Online/Offline=online, Envir. type=dynamic, Safety/Coll. aware=no, Optimality=time-optimal, Validation (Robot type)=sim. & exp. (Franka Panda 7-DoF arm)2026.02 | 10 | |
| CuRoboYear / Venue=2023 / ICRA, Constraints=kinematic (P, V, A, J), Online/Offline=online, Envir. type=dynamic, Safety/Coll. aware=yes, Optimality=minimum-J & minimum-A (locally), Validation (Robot type)=sim. (UR5e, UR10, Kinova) & exp. (Jetson AGX)2026.02 | 10 | |
| PatraYear / Venue=2025 / JMR, Constraints=kinodynamic (P, V, A), Online/Offline=hybrid, Envir. type=dynamic, Safety/Coll. aware=yes, Optimality=control efforts in a receding-horizon (locally), Validation (Robot type)=sim. & exp. (mobile manipulator)2026.02 | 10 | |
| SplinesYear / Venue=– / –, Constraints=kinematic (P, V, A, J), Online/Offline=online, Envir. type=dynamic, Safety/Coll. aware=yes, Optimality=time-optimal within the parabolic-J family, Validation (Robot type)=sim. & exp. (UFACTORY xArm6)2026.02 | 10 |