Smooth robot motion with an Optimal Redundancy Resolution for PR2 robot based on an analytic inverse kinematic solution.
Nima RamezaniMary-Anne WilliamsPublished in: Humanoids (2015)
Keyphrases
- robot motion
- mobile robot
- outdoor environments
- collision avoidance
- humanoid robot
- inverse kinematics
- closed form
- visual servoing
- autonomous vehicles
- high resolution
- dynamic programming
- control strategy
- obstacle detection
- stereo vision
- free space
- indoor environments
- autonomous robots
- dynamic environments
- real robot
- obstacle avoidance
- reinforcement learning
- motion planning
- path planning
- mathematical model
- end effector
- vision system
- parallel robot