Real-time end-effector motion behavior planning approach using on-line point-cloud data towards a user adaptive assistive bath robot.
Athanasios C. DometiosXanthi S. PapageorgiouAntonis ArvanitakisCostas S. TzafestasPetros MaragosPublished in: IROS (2017)
Keyphrases
- end effector
- vision system
- degrees of freedom
- inverse kinematics
- motion planning
- real time
- robot arm
- visual servoing
- hand eye calibration
- robot manipulators
- visual feedback
- mobile robot
- robotic arm
- force feedback
- point cloud data
- robotic manipulator
- autonomous robots
- position and orientation
- joint space
- point cloud
- humanoid robot
- computer vision
- human arm
- configuration space
- joint angles
- control law
- hough transform
- camera motion
- pose estimation
- path planning
- control system
- user interface