Collision-free and smooth motion planning of dual-arm Cartesian robot based on B-spline representation.
Marco RiboliMatthieu JaccardMarco SilvestriAlessandra AimiCesare MalaraPublished in: Robotics Auton. Syst. (2023)
Keyphrases
- motion planning
- collision free
- b spline
- robotic arm
- path planning
- mobile robot
- configuration space
- humanoid robot
- trajectory planning
- degrees of freedom
- robot arm
- control points
- path planner
- multi robot
- obstacle avoidance
- robotic tasks
- piecewise polynomial
- surface representation
- potential field
- basis functions
- manipulation tasks
- autonomous mobile robot
- inverse kinematics
- dynamic environments
- least squares
- control law
- collision avoidance
- machine learning
- climbing robot
- optimal path
- pose estimation
- multi modal
- reinforcement learning