Formulation and motion planning of the peg-in-hole task with mixed logical dynamical system theory.
Kazuaki HiranaTatsuya SuzukiShigeru OkumaPublished in: Adv. Robotics (2004)
Keyphrases
- motion planning
- dynamical systems
- nonlinear dynamical systems
- degrees of freedom
- path planning
- trajectory planning
- humanoid robot
- dynamical behavior
- robotic tasks
- phase space
- dynamic systems
- mobile robot
- control law
- differential equations
- configuration space
- robotic arm
- mechanical systems
- autonomous mobile robot
- immune network
- multi robot
- state space
- connectionist networks
- partially observable markov decision processes
- closed loop
- dynamic environments