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Improving Motion Planning for Surgical Robot with Active Constraints.
Hang Su
Yingbai Hu
Jiehao Li
Jing Guo
Yuan Liu
Mengyao Li
Alois C. Knoll
Giancarlo Ferrigno
Elena De Momi
Published in:
IROS (2020)
Keyphrases
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motion planning
degrees of freedom
trajectory planning
path planning
mobile robot
robot arm
minimally invasive surgery
humanoid robot
inverse kinematics
end effector
multi robot
robotic tasks
surgical robot
collision free
dynamic environments
configuration space
control law
computer vision
control system