Motion planning for redundant free-floating space robot with local optimization of reaction torque and joint torque simultaneously.
Cheng ZhouMinghe JinYechao LiuHong LiuPublished in: ROBIO (2016)
Keyphrases
- motion planning
- joint space
- humanoid robot
- degrees of freedom
- robot arm
- trajectory planning
- configuration space
- position control
- mobile robot
- end effector
- belief space
- path planning
- robotic arm
- inverse kinematics
- robotic tasks
- obstacle avoidance
- autonomous mobile robot
- multi modal
- multi robot
- human robot interaction
- control law
- climbing robot
- induction motor
- manipulation tasks
- control algorithm
- kinematic model
- computer vision
- control scheme
- position and orientation
- machine learning
- force feedback
- visual servoing
- background subtraction
- dynamic environments