Task-priority motion planning of underactuated systems: an endogenous configuration space approach.
Adam RatajczakJoanna KarpinskaKrzysztof TchonPublished in: Robotica (2010)
Keyphrases
- motion planning
- configuration space
- mechanical systems
- degrees of freedom
- mobile robot
- trajectory planning
- robot arm
- path planning
- humanoid robot
- robotic tasks
- robotic arm
- obstacle avoidance
- control law
- autonomous mobile robot
- inverse kinematics
- manipulation tasks
- mathematical formalism
- collision free
- multi robot
- autonomous robots