Nonholonomic dynamic rolling control of reconfigurable 5R closed kinematic chain robot with passive joints.
Tasuku YamawakiOsamu MoriToru OmataPublished in: ICRA (2003)
Keyphrases
- kinematic chain
- mobile robot
- human body
- path planning
- articulated objects
- dynamic environments
- robot control
- visual servoing
- robotic systems
- autonomous robots
- autonomous control
- obstacle avoidance
- robotic arm
- motion planning
- feedback control
- kinematic constraints
- changing environment
- sensory information
- control system
- degrees of freedom
- vision system
- trajectory planning
- sliding mode
- tracking control
- multi robot
- robot manipulators
- end effector
- computer vision
- control method
- humanoid robot
- parallel robot
- optimal control
- semi supervised