RRT-based motion planning with sampling in Redundancy space for robots with anthropomorphic arms.
Cheng FangJinoh LeeArash AjoudaniChengxu ZhouNikos G. TsagarakisDarwin G. CaldwellPublished in: AIM (2017)
Keyphrases
- motion planning
- robot arm
- humanoid robot
- mobile robot
- multi robot
- belief space
- manipulation tasks
- collision free
- path planning
- degrees of freedom
- configuration space
- trajectory planning
- inverse kinematics
- robotic tasks
- robotic arm
- autonomous mobile robot
- control law
- visual sensor
- human robot interaction
- robotic systems
- obstacle avoidance
- autonomous robots
- end effector
- potential field
- multi modal
- image sequences
- closed loop
- human computer interaction
- dynamic environments
- feature extraction
- computer vision