Energy optimal motion planning of a 14-DOF biped robot on 3D terrain using a new speed function incorporating biped dynamics and terrain geometry.
Jitendra KumarAshish DuttaPublished in: Robotica (2022)
Keyphrases
- motion planning
- biped robot
- humanoid robot
- configuration space
- degrees of freedom
- path planning
- biologically inspired
- trajectory planning
- control law
- mobile robot
- three dimensional
- robot arm
- robotic arm
- multi robot
- inverted pendulum
- control strategy
- collision free
- inverse kinematics
- robotic tasks
- dynamic model
- kinematic model
- multi modal
- dynamic programming
- dynamical systems
- pose estimation
- mechanical systems
- dynamic environments
- spatio temporal
- initial conditions
- input output
- shortest path