Integration of vision and central pattern generator based locomotion for path planning of a non-holonomic crawling humanoid robot.
Sébastien GaySarah DegallierUgo PattaciniAuke Jan IjspeertJosé Santos-VictorPublished in: IROS (2010)
Keyphrases
- motion planning
- path planning
- central pattern generator
- humanoid robot
- mobile robot
- degrees of freedom
- trajectory planning
- rough terrain
- collision free
- legged locomotion
- multi robot
- obstacle avoidance
- collision avoidance
- dynamic environments
- vision system
- potential field
- biologically inspired
- path planning algorithm
- multi modal
- computer vision
- human robot interaction
- optimal path
- configuration space
- autonomous navigation
- real time
- indoor environments
- dynamic and uncertain environments
- autonomous vehicles
- real robot
- path finding
- autonomous robots
- robotic systems
- path planner
- robot path planning
- control law
- three dimensional