Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming.
Yuki ShiraiXuan LinYusuke TanakaAnkur MehtaDennis W. HongPublished in: CoRR (2020)
Keyphrases
- motion planning
- nonlinear programming
- mobile robot
- humanoid robot
- trajectory planning
- robot arm
- linear programming
- path planning
- variational inequalities
- robotic arm
- optimization problems
- multi robot
- autonomous mobile robot
- degrees of freedom
- robotic tasks
- obstacle avoidance
- configuration space
- collision free
- inverse kinematics
- manipulation tasks
- linear constraints
- climbing robot
- exact algorithms
- equality constraints
- semidefinite programming
- multi modal
- human robot interaction
- end effector
- linear program
- sensitivity analysis
- control system
- collision avoidance
- dynamic environments
- multi agent systems
- video sequences
- reinforcement learning