Optimal motion planning of peg-in-hole task based on mixed logical dynamical system theory.
Kazuaki HiranaTatsuya SuzukiShigeru OkumaPublished in: CDC (2002)
Keyphrases
- motion planning
- dynamical systems
- nonlinear dynamical systems
- degrees of freedom
- trajectory planning
- mobile robot
- path planning
- collision free
- state space
- differential equations
- autonomous mobile robot
- humanoid robot
- dynamical behavior
- multi robot
- dynamic programming
- robotic tasks
- mechanical systems
- phase space
- connectionist networks
- robotic arm
- optimal solution
- climbing robot
- obstacle avoidance
- configuration space
- partially observable
- three dimensional
- nonlinear dynamics
- computer vision
- linear quadratic
- optimal path
- object recognition