Omnidirectional motion planning for a leg-wheeled robot with reduced DOF and using passive wheels.
Nobutake HiraokaJunya TatsunoKatsuhiko InagakiPublished in: ICARCV (2016)
Keyphrases
- motion planning
- mobile robot
- humanoid robot
- path planning
- kinematic model
- trajectory planning
- robot arm
- robotic arm
- vision sensor
- obstacle avoidance
- multi robot
- inverse kinematics
- autonomous robots
- degrees of freedom
- dynamic environments
- autonomous navigation
- collision free
- robotic tasks
- inverted pendulum
- joint angles
- motion control
- visual servoing
- autonomous mobile robot
- manipulation tasks
- control law
- configuration space
- biologically inspired
- robotic systems
- multi modal
- mechanical systems
- simultaneous localization and mapping
- control strategy
- end effector
- robot control
- rough terrain
- optimal path
- human body
- walking robot
- sagittal plane