Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming.
Yuki ShiraiXuan LinYusuke TanakaAnkur MehtaDennis W. HongPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- motion planning
- nonlinear programming
- mobile robot
- humanoid robot
- linear programming
- trajectory planning
- robot arm
- path planning
- degrees of freedom
- multi robot
- variational inequalities
- robotic arm
- manipulation tasks
- obstacle avoidance
- robotic tasks
- autonomous mobile robot
- optimization problems
- collision free
- linear constraints
- configuration space
- inverse kinematics
- exact algorithms
- equality constraints
- climbing robot
- end effector
- semidefinite programming
- multi modal
- robotic systems
- sensitivity analysis
- linear program
- dynamic environments
- primal dual
- dynamic programming
- image sequences
- machine learning