Kinematic controllability and motion planning for the snakeboard.
Francesco BulloAndrew D. LewisPublished in: IEEE Trans. Robotics Autom. (2003)
Keyphrases
- motion planning
- degrees of freedom
- inverse kinematics
- kinematic model
- configuration space
- robot arm
- trajectory planning
- mobile robot
- pose estimation
- path planning
- robotic arm
- end effector
- robotic tasks
- mechanical systems
- obstacle avoidance
- autonomous mobile robot
- collision free
- control law
- real time
- joint angles
- multi modal
- climbing robot
- nearest neighbor searching
- belief space
- vision system
- d objects
- machine learning