Incorporating Body Dynamics into the Sensor-Based Motion Planning Paradigm. The Maximum Turn Strategy.
Vladimir J. LumelskyAndrei M. ShkelPublished in: ICRA (1995)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- mobile robot
- path planning
- robot arm
- humanoid robot
- autonomous mobile robot
- mechanical systems
- kinematic model
- human body
- robotic arm
- manipulation tasks
- obstacle avoidance
- inverse kinematics
- robotic tasks
- real time
- configuration space
- dynamical systems
- joint angles
- collision free
- belief space
- dynamic model
- control law
- sensor data
- pose estimation