Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots.
Tipakorn GreigarnNate Lombard PoirotXinyang XuMurat Cenk CavusogluPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- motion planning
- mobile robot
- multi robot
- humanoid robot
- belief space
- control law
- manipulation tasks
- path planning
- collision free
- degrees of freedom
- configuration space
- trajectory planning
- robot arm
- robotic arm
- magnetic resonance images
- obstacle avoidance
- robotic tasks
- mechanical systems
- magnetic resonance imaging
- autonomous mobile robot
- robotic systems
- potential field
- autonomous robots
- motion control
- computer vision
- machine learning
- jacobian matrix
- inverse kinematics
- real time
- robot control
- kinematic model
- control scheme