Towards online trajectory generation considering robot dynamics and torque limits.
Robert K. KatzschmannTorsten KrögerTamim AsfourOussama KhatibPublished in: IROS (2013)
Keyphrases
- dynamic model
- mobile robot
- trajectory planning
- trajectory tracking
- vision system
- online learning
- robot motion
- real time
- human robot interaction
- robot manipulators
- autonomous robots
- obstacle avoidance
- physical constraints
- robot control
- configuration space
- end effector
- dynamic environments
- kinematic model
- neural network
- robot navigation
- goal directed
- position and orientation
- collision free
- humanoid robot
- motion control
- robotic arm
- service robots
- control algorithm
- search and rescue