Climbing over large obstacles with a humanoid robot via multi-contact motion planning.
Pavan KanajarDarwin G. CaldwellPetar KormushevPublished in: RO-MAN (2017)
Keyphrases
- motion planning
- humanoid robot
- collision free
- climbing robot
- biologically inspired
- trajectory planning
- robot arm
- multi modal
- human robot interaction
- control law
- obstacle avoidance
- degrees of freedom
- motion capture
- robotic tasks
- mobile robot
- mechanical systems
- autonomous mobile robot
- manipulation tasks
- configuration space
- robotic arm
- belief space
- inverse kinematics
- real robot
- fully autonomous
- body movements
- imitation learning
- walking speed
- human motion
- human computer interaction
- three dimensional
- joint space
- rough terrain
- path planning