H-RRT-C: Haptic motion planning with contact.
Nassime BlinMichel TaïxPhilippe FillatreauJean-Yves FourquetPublished in: RO-MAN (2017)
Keyphrases
- motion planning
- robot arm
- force feedback
- haptic device
- robotic arm
- degrees of freedom
- end effector
- contact force
- mobile robot
- path planning
- trajectory planning
- inverse kinematics
- humanoid robot
- robotic tasks
- haptic interaction
- virtual environment
- obstacle avoidance
- virtual reality
- belief space
- multi robot
- collision free
- visual feedback
- mechanical systems
- control law
- master slave
- viewpoint
- closed loop
- pose estimation
- potential field
- manipulation tasks
- high dimensional