Fast Multi-Contact Whole-Body Motion Planning with Limb Dynamics.
Jonathan ArreguitSalman FarajiAuke Jan IjspeertPublished in: Humanoids (2018)
Keyphrases
- motion planning
- humanoid robot
- degrees of freedom
- trajectory planning
- mobile robot
- robot arm
- path planning
- robotic tasks
- autonomous mobile robot
- kinematic model
- inverse kinematics
- obstacle avoidance
- joint angles
- multi robot
- control law
- belief space
- dynamic model
- configuration space
- collision free
- manipulation tasks
- potential field
- climbing robot
- robotic arm
- multi modal
- human robot interaction
- dynamic environments
- mechanical systems
- multi agent
- machine learning