Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots.
Hua ChenBingheng WangZejun HongCong ShenPatrick M. WensingWei ZhangPublished in: CoRR (2020)
Keyphrases
- motion planning
- mobile robot
- humanoid robot
- autonomous robots
- mechanical systems
- robotic arm
- multi robot
- robot control
- inverted pendulum
- motion control
- path planning
- trajectory planning
- robotic systems
- robot arm
- robotic tasks
- visual servoing
- autonomous mobile robot
- manipulation tasks
- collision free
- degrees of freedom
- multi modal
- multi robot systems
- kinematic model
- obstacle avoidance
- formation control
- intelligent control
- control law
- collision avoidance
- real robot
- legged robots
- real time
- receding horizon
- end effector
- inverse kinematics
- configuration space
- control method
- feature space
- machine learning