Optimal redundancy resolution with task scaling under hard bounds in the robot joint space.

Fabrizio Flacco Alessandro De Luca

Published in: ICRA (2013)

Keyphrases

joint space
end effector
humanoid robot
worst case
degrees of freedom
mobile robot
lower bound
vision system
real time
upper bound
optimal solution
dynamic programming
configuration space
robot arm
visual information
video sequences
obstacle avoidance
trajectory planning
reinforcement learning