Design and Closed-Loop Motion Planning of an Untethered Swimming Soft Robot Using 2D Discrete Elastic Rods Simulations.
Xiaonan HuangZach J. PattersonAndrew P. SabelhausWeicheng HuangKiyn ChinZhijian RenMohammad Khalid JawedCarmel MajidiPublished in: Adv. Intell. Syst. (2022)
Keyphrases
- motion planning
- closed loop
- control law
- mobile robot
- robot arm
- open loop
- trajectory planning
- path planning
- humanoid robot
- degrees of freedom
- control system
- mechanical systems
- control scheme
- multi robot
- feedback control
- manipulation tasks
- robotic tasks
- climbing robot
- parameter identification
- robotic arm
- force control
- inverse kinematics
- autonomous mobile robot
- visual servoing
- obstacle avoidance
- trajectory tracking
- robot manipulators
- multi modal
- vision system
- controller design
- computer vision
- collision avoidance
- nonlinear systems
- robot navigation
- control loop
- position and orientation
- reference trajectory
- reinforcement learning