Whole-body motion planning with centroidal dynamics and full kinematics.
Hongkai DaiAndres ValenzuelaRuss TedrakePublished in: Humanoids (2014)
Keyphrases
- motion planning
- kinematic model
- humanoid robot
- inverse kinematics
- degrees of freedom
- robot arm
- trajectory planning
- mobile robot
- mechanical systems
- joint angles
- path planning
- robotic arm
- end effector
- multi robot
- autonomous mobile robot
- multi modal
- obstacle avoidance
- belief space
- robotic tasks
- dynamic model
- dynamical systems
- configuration space
- control law
- human robot interaction
- collision free
- free space
- voronoi diagram
- manipulation tasks
- video sequences