Planning collision-free motions for underactuated manipulators in constrained configuration space.
Marcel BergermanYangsheng XuPublished in: ICRA (1997)
Keyphrases
- motion planning
- collision free
- configuration space
- degrees of freedom
- path planning
- mobile robot
- path planner
- control law
- mathematical formalism
- humanoid robot
- collision free paths
- inverse kinematics
- multi robot
- robotic arm
- articulated body
- optimal path
- collision avoidance
- robotic systems
- vision system
- end effector
- path finding
- neural network
- genetic algorithm