Constrained Motion Planning of a Cable-Driven Soft Robot With Compressible Curvature Modeling.
Jiewen LaiBo LuQingxiang ZhaoHenry Kar Hang ChuPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- motion planning
- mobile robot
- humanoid robot
- trajectory planning
- path planning
- robot arm
- degrees of freedom
- obstacle avoidance
- autonomous mobile robot
- robotic arm
- multi robot
- robotic tasks
- manipulation tasks
- inverse kinematics
- collision free
- climbing robot
- configuration space
- belief space
- control law
- multi modal
- mechanical systems
- collision avoidance
- potential field
- end effector
- computer vision
- robot manipulators
- motion control
- autonomous robots
- kinematic model
- rough terrain
- hard constraints