A Comparative Study for Obstacle Avoidance Inverse Kinematics: Null-Space Based vs. Optimisation-Based.
Neil HarrisonWenxing LiuInmo JangJoaquín CarrascoGuido HerrmannNick SykesPublished in: TAROS (2020)
Keyphrases
- obstacle avoidance
- inverse kinematics
- null space
- motion planning
- mobile robot
- path planning
- robot arm
- linear discriminant analysis
- degrees of freedom
- novelty detection
- robot manipulators
- singular value decomposition
- position and orientation
- principal components
- humanoid robot
- theoretical guarantees
- singular values
- genetic algorithm
- dynamic environments
- multi robot
- dimensionality reduction
- real time
- principal component analysis
- multi objective
- feature space
- object recognition
- face recognition
- computer vision