Whole-body Motion Planning and Control for Underactuated Wheeled-bipdal Robots.
Yu WangYaxian XinXuewen RongYibin LiPublished in: ROBIO (2021)
Keyphrases
- motion planning
- mobile robot
- humanoid robot
- mechanical systems
- robotic arm
- multi robot
- motion control
- path planning
- robotic systems
- autonomous robots
- manipulation tasks
- robot control
- trajectory planning
- robot arm
- inverted pendulum
- visual servoing
- robotic tasks
- formation control
- autonomous mobile robot
- collision free
- degrees of freedom
- receding horizon
- obstacle avoidance
- human robot interaction
- inverse kinematics
- multi modal
- control system
- real robot
- dynamic environments
- control method
- end effector
- configuration space
- kinematic model
- real time
- control law
- master slave
- legged robots
- face recognition
- computer vision