A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning.
Lei CuiJian S. DaiPublished in: ICRA (2009)
Keyphrases
- trajectory planning
- rigid objects
- motion planning
- obstacle avoidance
- robot manipulators
- articulated objects
- point correspondences
- motion analysis
- motion parameters
- degrees of freedom
- path planning
- image sequences
- dynamic environments
- dynamic scenes
- rigid body
- mobile robot
- mathematical model
- closed form
- fuzzy neural network
- rigid motion
- situational awareness
- optical flow