Improving the scalability of asymptotically optimal motion planning for humanoid dual-arm manipulators.
Rahul ShomeKostas E. BekrisPublished in: Humanoids (2017)
Keyphrases
- motion planning
- asymptotically optimal
- robotic arm
- degrees of freedom
- humanoid robot
- path planning
- asymptotic optimality
- trajectory planning
- mobile robot
- robot arm
- multi robot
- arrival rate
- inverse kinematics
- climbing robot
- robotic tasks
- control law
- collision free
- mechanical systems
- configuration space
- manipulation tasks
- multi modal
- call center
- steady state
- dynamic environments