First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach.
Wen-Loong MaKaveh Akbari HamedAaron D. AmesPublished in: IROS (2019)
Keyphrases
- motion planning
- robotic arm
- mechanical systems
- kinematic model
- degrees of freedom
- trajectory planning
- path planning
- humanoid robot
- mobile robot
- multi robot
- autonomous mobile robot
- robotic tasks
- robot arm
- highly nonlinear
- control system
- belief space
- inverse kinematics
- configuration space
- visual servoing
- obstacle avoidance
- dynamic model
- process control
- autonomous robots
- computer vision
- climbing robot
- air fuel ratio