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Trajectory optimization of COmpliant HuMANoid (COMAN) robot arm using path parameter based dynamic programming.
Zeeshan Shareef
Jochen J. Steil
Published in:
Humanoids (2016)
Keyphrases
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robot arm
dynamic programming
motion planning
configuration space
inverse kinematics
natural actor critic
position and orientation
optimization algorithm
humanoid robot
mobile robot
path planning
degrees of freedom
control strategies
end effector
optimal control
state space
spatio temporal
nonlinear systems