Motion Planning Algorithms for Stratified Kinematic Systems with Application to the Hexapod Robot.
István Á. HarmatiBálint KissPublished in: Acta Cybern. (2001)
Keyphrases
- motion planning
- mobile robot
- degrees of freedom
- inverse kinematics
- path planning
- humanoid robot
- mechanical systems
- trajectory planning
- robot arm
- configuration space
- robotic tasks
- obstacle avoidance
- autonomous mobile robot
- end effector
- parallel manipulator
- kinematic model
- robot navigation
- control law
- manipulation tasks
- object recognition
- dynamic environments
- vision system
- collision free
- sensory information
- robotic arm
- viewpoint
- three dimensional