Real-time Obstacle Avoidance with a Virtual Torque Approach for a Robotic Tool in the End Effector.
Yi-Hung LeeKai-Tai SongPublished in: ICRA (2021)
Keyphrases
- obstacle avoidance
- mobile robot
- real time
- end effector
- visual servoing
- motion planning
- autonomous vehicles
- robotic arm
- position control
- vision system
- path planning
- force feedback
- degrees of freedom
- robotic manipulator
- robot arm
- trajectory planning
- inverse kinematics
- joint space
- robot manipulators
- robot control
- contact force
- control system
- control scheme
- dynamic environments
- autonomous robots
- dynamic model
- augmented reality
- control law
- multi robot
- robotic systems
- closed loop
- viewpoint
- force control
- video sequences
- neural network