A Motion Planning Approach for Nonprehensile Manipulation and Locomotion Tasks of a Legged Robot.
Guoteng ZhangShugen MaYayi ShenYibin LiPublished in: IEEE Trans. Robotics (2020)
Keyphrases
- motion planning
- manipulation tasks
- legged robots
- mobile robot
- degrees of freedom
- path planning
- trajectory planning
- robotic systems
- robot arm
- rough terrain
- robotic tasks
- quadruped robot
- humanoid robot
- robotic arm
- real robot
- control law
- multi robot
- stability margin
- inverse kinematics
- pose estimation
- configuration space
- inverted pendulum
- end effector
- autonomous robots
- robot control
- visual servoing
- collision free
- real world