Global Manipulation Planning in Robot Joint Space With Task Constraints.
Mike StilmanPublished in: IEEE Trans. Robotics (2010)
Keyphrases
- joint space
- humanoid robot
- motion planning
- end effector
- degrees of freedom
- manipulation tasks
- mobile robot
- configuration space
- vision system
- trajectory planning
- multi modal
- robotic systems
- position and orientation
- visual servoing
- heuristic search
- genetic algorithm
- robot manipulators
- inverse kinematics
- high dimensional