Controlled invariants and trajectory planning for underactuated mechanical systems.

Anton S. Shiriaev Leonid B. Freidovich Mark W. Spong

Published in: CDC (2013)

Keyphrases

mechanical systems
trajectory planning
motion planning
degrees of freedom
path planning
mobile robot
humanoid robot
obstacle avoidance
multi robot
kinematic model
dynamic environments
real time
human motion
robot manipulators
gait analysis