Motion Planning With Uncertainty For Highly Redundant Kinematic Structures I. "Free Snake" Motion.
Dan ReznikVladimir J. LumelskyPublished in: IROS (1992)
Keyphrases
- motion planning
- highly redundant
- degrees of freedom
- inverse kinematics
- configuration space
- kinematic model
- robot arm
- end effector
- trajectory planning
- humanoid robot
- robotic tasks
- path planning
- autonomous mobile robot
- robotic arm
- mobile robot
- pose estimation
- belief space
- multi robot
- control law
- obstacle avoidance
- mechanical systems
- parallel manipulator
- joint angles
- collision free
- parallel robot
- physical constraints
- active contours
- multi modal
- feature space
- video sequences
- image sequences
- real time