Thinning and smoothing of randomly-sampled support transitions toward practical motion planning for humanoid robots.
Toshiya NishiTomomichi SugiharaPublished in: IROS (2010)
Keyphrases
- motion planning
- humanoid robot
- degrees of freedom
- randomly sampled
- trajectory planning
- robot arm
- mobile robot
- path planning
- autonomous mobile robot
- multi robot
- multi modal
- robotic arm
- belief space
- human robot interaction
- biologically inspired
- control law
- robotic tasks
- mechanical systems
- manipulation tasks
- configuration space
- inverse kinematics
- collision free
- obstacle avoidance
- climbing robot
- motor skills
- object recognition
- human computer interaction