Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles.
Vincent DuindamRon AlterovitzShankar SastryKenneth Y. GoldbergPublished in: ICRA (2008)
Keyphrases
- motion planning
- collision free
- robotic tasks
- mobile robot
- degrees of freedom
- soft tissue
- inverse kinematics
- path planning
- robot arm
- trajectory planning
- dynamic environments
- humanoid robot
- multi robot
- robotic arm
- obstacle avoidance
- mechanical systems
- configuration space
- belief space
- robotic systems
- medical images
- climbing robot
- object recognition
- position and orientation
- autonomous robots
- manipulation tasks
- kinematic model
- collision avoidance
- robot navigation
- autonomous mobile robot
- multi modal