First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach.
Wen-Loong MaKaveh Akbari HamedAaron D. AmesPublished in: CoRR (2019)
Keyphrases
- motion planning
- robotic arm
- mechanical systems
- kinematic model
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- robotic tasks
- robot arm
- humanoid robot
- control system
- multi robot
- autonomous mobile robot
- highly nonlinear
- inverse kinematics
- belief space
- air fuel ratio
- configuration space
- obstacle avoidance
- control strategy
- control law
- manipulation tasks
- autonomous robots
- control method
- dynamic model
- spatio temporal