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iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization.
Joaquim Ortiz de Haro
Wolfgang Hönig
Valentin N. Hartmann
Marc Toussaint
Ludovic Righetti
Published in:
CoRR (2024)
Keyphrases
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motion planning
trajectory planning
motion primitives
humanoid robot
degrees of freedom
collision free
configuration space
path planning
mobile robot
robotic tasks
human motion
robotic arm
obstacle avoidance
multi robot
kinematic model
mechanical systems
multi modal
spatio temporal
motion trajectories
climbing robot