Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators.
Alexandre AmiceHongkai DaiPeter WernerAnnan ZhangRuss TedrakePublished in: WAFR (2022)
Keyphrases
- configuration space
- motion planning
- collision free
- robot manipulators
- path planning
- inverse kinematics
- end effector
- degrees of freedom
- mobile robot
- robot arm
- control scheme
- humanoid robot
- collision avoidance
- multi robot
- dynamic environments
- free space
- real time
- dynamic model
- regression model
- control law
- optimal path
- pose estimation
- fuzzy logic
- evolutionary algorithm
- viewpoint
- search algorithm
- three dimensional