High-dimensional underactuated motion planning via task space control.
Alexander C. ShkolnikRuss TedrakePublished in: IROS (2008)
Keyphrases
- motion planning
- mechanical systems
- high dimensional
- robotic arm
- belief space
- low dimensional
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- robot arm
- parameter space
- robotic tasks
- configuration space
- humanoid robot
- multi robot
- obstacle avoidance
- inverse kinematics
- control law
- dimensionality reduction
- kinematic model
- reinforcement learning
- end effector
- multi modal
- control system
- collision free
- autonomous robots
- control method
- data points
- real time
- climbing robot