Trajectory Optimization for Cable-Driven Soft Robot Locomotion.
James M. BernPol BanzetRoi PoranneStelian CorosPublished in: Robotics: Science and Systems (2019)
Keyphrases
- mobile robot
- robot motion
- robot control
- robotic systems
- rough terrain
- optimization algorithm
- trajectory planning
- robot moves
- data driven
- legged robots
- obstacle avoidance
- collision free
- path planning
- optimization problems
- neural network
- configuration space
- central pattern generator
- humanoid robot
- vision system
- constrained optimization
- degrees of freedom
- multi modal
- experimental platform
- human robot interaction
- optimization process
- robot arm
- robot manipulators
- motion planning
- end effector
- control system
- real time