Optimization-based motion planning of mobile manipulator with high degree of kinematic redundancy.
Jianfeng LiaoFanghao HuangZheng ChenBin YaoPublished in: Int. J. Intell. Robotics Appl. (2019)
Keyphrases
- motion planning
- degrees of freedom
- inverse kinematics
- configuration space
- mobile robot
- path planning
- robot arm
- trajectory planning
- kinematic model
- humanoid robot
- robotic arm
- multi robot
- robotic tasks
- belief space
- pose estimation
- control law
- mechanical systems
- autonomous mobile robot
- end effector
- climbing robot
- manipulation tasks
- collision free
- multi modal
- state space