Risk-constrained Motion Planning for Robot Locomotion: Formulation and Running Robot Demonstration.
Jacob HackettWei GaoMonica A. DaleyJonathan E. ClarkChristian HubickiPublished in: IROS (2020)
Keyphrases
- motion planning
- mobile robot
- humanoid robot
- degrees of freedom
- path planning
- robot arm
- trajectory planning
- multi robot
- robotic arm
- autonomous mobile robot
- obstacle avoidance
- rough terrain
- inverse kinematics
- robotic tasks
- manipulation tasks
- collision free
- climbing robot
- robot moves
- autonomous robots
- robot control
- configuration space
- vision system
- mechanical systems
- robotic systems
- legged locomotion
- multi modal
- end effector
- motion control
- collision avoidance
- potential field
- real time
- robot navigation
- human robot interaction
- control law
- robot manipulators
- human motion
- object recognition