Underactuated Motion Planning and Control for Jumping With Wheeled-Bipedal Robots.
Hua ChenBingheng WangZejun HongCong ShenPatrick M. WensingWei ZhangPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- motion planning
- mobile robot
- humanoid robot
- autonomous robots
- mechanical systems
- robotic arm
- multi robot
- robot control
- inverted pendulum
- path planning
- motion control
- robotic systems
- manipulation tasks
- trajectory planning
- collision free
- robot arm
- visual servoing
- formation control
- kinematic model
- obstacle avoidance
- multi modal
- autonomous mobile robot
- robotic tasks
- multi robot systems
- dynamic environments
- inverse kinematics
- degrees of freedom
- human robot interaction
- configuration space
- receding horizon
- collision avoidance
- real robot
- robot navigation
- control method
- control policy