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Experiments on whole-body control of a dual-arm mobile robot with the Set-Based Task-Priority Inverse Kinematics algorithm.
Paolo Di Lillo
Francesco Pierri
Fabrizio Caccavale
Gianluca Antonelli
Published in:
IROS (2020)
Keyphrases
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mobile robot
objective function
path planning
learning algorithm
dynamic programming
inverse kinematics
computational complexity
obstacle avoidance
optimization algorithm
configuration space
motion planning
convergence rate
mathematical model
real time
visual servoing
control system
real world