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Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting.
Bill Goodwine
Joel W. Burdick
Published in:
IEEE Trans. Robotics Autom. (2002)
Keyphrases
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motion planning
degrees of freedom
mechanical systems
inverse kinematics
quasi static
robot arm
multi robot
trajectory planning
pose estimation
path planning
humanoid robot
configuration space
mobile robot
rough terrain
robotic arm