A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry.
Zhifeng WangShugen MaBin LiYuechao WangPublished in: Sci. China Inf. Sci. (2011)
Keyphrases
- dynamic model
- differential geometry
- mobile robot
- robot manipulators
- robotic systems
- robot control
- trajectory tracking
- central pattern generator
- experimental data
- structure tensor
- infinite dimensional
- autonomous robots
- shape space
- active contours
- riemannian manifolds
- b spline
- degrees of freedom
- humanoid robot
- vision system
- multiscale
- closed curves
- visual servoing
- active contour model
- end effector
- motion planning
- shape model
- medical images
- computer vision