Motion Planning With Uncertainty For Highly Redundant Kinematic Structures I. "Free Snake" Motion.

Dan Reznik Vladimir J. Lumelsky

Published 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