A Study on Joint Trajectory Planning of Multilegged Robot with Redundant Degrees of Freedom Legs using the Screw Theory.
Yoichi ShigematsuNaoya YoshinagaHitoshi InabeRyoichiro TamuraTomoya FujiiSouta OkadaNobuto HirakosoPublished in: MHS (2018)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- path planning
- end effector
- robot manipulators
- robotic arm
- obstacle avoidance
- robot arm
- mobile robot
- joint angles
- autonomous mobile robot
- configuration space
- joint space
- dynamic environments
- humanoid robot
- pose estimation
- inverse kinematics
- motion tracking
- real time
- multi robot
- position control
- visual servoing
- minimally invasive surgery
- robotic manipulator
- robotic systems