iDRM: Humanoid motion planning with realtime end-pose selection in complex environments.
Yiming YangVladimir IvanZhibin LiMaurice F. FallonSethu VijayakumarPublished in: Humanoids (2016)
Keyphrases
- motion planning
- complex environments
- humanoid robot
- degrees of freedom
- trajectory planning
- pose estimation
- path planning
- mobile robot
- robot arm
- real time
- robotic tasks
- robotic arm
- autonomous mobile robot
- multi robot
- obstacle avoidance
- mechanical systems
- collision free
- cognitive systems
- belief space
- configuration space
- inverse kinematics
- sequential decision tasks
- machine learning
- joint angles
- autonomous agents
- position and orientation
- shortest path
- manipulation tasks
- spatio temporal
- viewpoint
- feature space
- computer vision