A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves.
Pål LiljebäckKristin Ytterstad PettersenØyvind StavdahlJan Tommy GravdahlPublished in: IROS (2012)
Keyphrases
- thin plate spline
- control points
- b spline
- cubic b spline
- matching algorithm
- shape parameters
- robotic systems
- point correspondences
- d objects
- mobile robot
- affine transformation
- robot control
- contour extraction
- corner points
- autonomous robots
- least squares
- rough terrain
- image enhancement
- shape analysis
- three dimensional
- snake model
- legged robots
- object recognition