Reactive motion planning using time-layered C-spaces for a collaborative robot PaDY.
Hisaka WadaJun KinugawaKazuhiro KosugePublished in: Adv. Robotics (2021)
Keyphrases
- motion planning
- humanoid robot
- configuration space
- mobile robot
- robot arm
- path planning
- trajectory planning
- obstacle avoidance
- degrees of freedom
- multi robot
- robotic tasks
- robotic arm
- autonomous mobile robot
- nearest neighbor searching
- collision free
- manipulation tasks
- inverse kinematics
- control law
- biologically inspired
- rough terrain
- climbing robot
- human robot interaction
- multi modal
- belief space
- potential field
- end effector
- collision avoidance
- robot navigation
- kinematic model
- unknown environments
- dynamic environments
- mechanical systems
- object detection
- viewpoint
- machine learning