Sampling based Constrained Motion Planning For Floating Base Manipulators Using Constraints Driven Alternative Parameterization.
Mohammadreza YavariKamal GuptaMehran MehrandezhPublished in: ICARM (2018)
Keyphrases
- motion planning
- degrees of freedom
- path planning
- mobile robot
- trajectory planning
- robot arm
- humanoid robot
- control law
- robotic tasks
- constrained problems
- robotic arm
- autonomous mobile robot
- obstacle avoidance
- belief space
- multi robot
- inverse kinematics
- lagrange multipliers
- configuration space
- dynamic environments
- potential field
- manipulation tasks
- real time
- climbing robot
- mechanical systems
- adaptive control
- object detection
- feature space