Motion planning for a pendulum-driven rolling robot tracing spherical contact curves.
Yang BaiMikhail M. SvininMotoji YamamotoPublished in: IROS (2015)
Keyphrases
- motion planning
- mobile robot
- humanoid robot
- trajectory planning
- robot arm
- path planning
- degrees of freedom
- multi robot
- autonomous mobile robot
- robotic tasks
- robotic arm
- manipulation tasks
- obstacle avoidance
- collision free
- inverse kinematics
- configuration space
- three dimensional
- control law
- belief space
- end effector
- mechanical systems
- climbing robot
- dynamic environments
- video sequences
- human robot interaction
- robotic systems
- human motion
- mathematical model
- rough terrain
- multi modal