Singularity robust inverse kinematics for a humanoid robot with minimum energy configuration and self-collision avoidance.
Yuanwei ChuaKeng Peng TeeRui YanPublished in: WASA (2012)
Keyphrases
- collision avoidance
- motion planning
- inverse kinematics
- humanoid robot
- minimum energy
- path planning
- robot arm
- mobile robot
- configuration space
- dynamic environments
- low energy
- multi modal
- end effector
- position and orientation
- degrees of freedom
- robot manipulators
- multi robot
- path finding
- motion capture
- machine learning
- human motion
- control system
- spatio temporal
- high dimensional
- image sequences
- fuzzy model
- dynamic programming
- joint angles
- genetic algorithm