Motion planning on rough terrain for an articulated vehicle in presence of uncertainties.
Alain HaïtThierry SiméonPublished in: IROS (1996)
Keyphrases
- motion planning
- rough terrain
- humanoid robot
- kinematic model
- degrees of freedom
- mobile robot
- path planning
- robot arm
- trajectory planning
- robotic arm
- legged locomotion
- quadruped robot
- obstacle avoidance
- multi robot
- human body
- inverse kinematics
- mechanical systems
- autonomous navigation
- real time
- control law
- configuration space
- collision free
- multi modal
- object recognition