Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations.
Andrew L. OrekhovGarrison L. H. JohnstonNabil SimaanPublished in: IROS (2023)
Keyphrases
- configuration space
- lie group
- motion planning
- degrees of freedom
- vector field
- lie algebra
- parameter space
- mobile robot
- multi robot
- shape analysis
- path planning
- infinite dimensional
- shape descriptors
- shape model
- riemannian manifolds
- euclidean space
- shape representation
- linear transformation
- geometric structure
- finite dimensional
- robotic systems
- shape matching
- computer vision
- vector space
- pose estimation
- search space
- viewpoint
- video sequences