Hierarchical Optimal Motion Planning for Piano Playing Robots With Dexterous Fingers.
Guang GaoLing ZhongShiqiang ZhuMinhong WanPu ZhangDingkun LiangJason GuPublished in: ROBIO (2022)
Keyphrases
- motion planning
- humanoid robot
- manipulation tasks
- mobile robot
- collision free
- multi robot
- trajectory planning
- robot arm
- path planning
- multi modal
- degrees of freedom
- object manipulation
- robotic arm
- robotic tasks
- autonomous mobile robot
- human robot interaction
- robot navigation
- control law
- optimal path
- dynamic programming
- mechanical systems
- inverse kinematics
- belief space
- three dimensional
- obstacle avoidance
- robotic systems
- collision avoidance
- hand gestures
- object recognition
- human hand
- optimal solution
- machine learning
- climbing robot