Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC.
Ainoor TeimoorzadehFrederico Fernandes Afonso SilvaLuis F. C. FigueredoSami HaddadinPublished in: HFR (2023)
Keyphrases
- motion planning
- real time
- degrees of freedom
- configuration space
- trajectory planning
- mobile robot
- robot arm
- autonomous mobile robot
- path planning
- robotic tasks
- inverse kinematics
- control law
- belief space
- closed loop
- climbing robot
- obstacle avoidance
- humanoid robot
- multi robot
- control system
- robotic arm
- object detection
- mechanical systems
- control scheme
- pose estimation
- vision system
- collision free
- end effector
- d objects
- kinematic model
- training set
- nearest neighbor searching
- video sequences