Nonprehensile Manipulation of an Underactuated Mechanical System With Second-Order Nonholonomic Constraints: The Robotic Hula-Hoop.
Alejandro Gutierrez-GilesFabio RuggieroVincenzo LippielloBruno SicilianoPublished in: IEEE Robotics Autom. Lett. (2018)
Keyphrases
- motion planning
- manipulation tasks
- mobile robot
- kinematic constraints
- path planning
- higher order
- trajectory planning
- degrees of freedom
- linear constraints
- collision avoidance
- constraint programming
- neural network
- object manipulation
- real time
- high order
- constraint satisfaction
- humanoid robot
- feedback control
- robotic arm
- tracking control