Full-body motion planning and control for the car egress task of the DARPA robotics challenge.
Chenggang LiuChristopher G. AtkesonSiyuan FengX. XinjilefuPublished in: Humanoids (2015)
Keyphrases
- motion planning
- robotic tasks
- robotic arm
- mechanical systems
- mobile robot
- degrees of freedom
- manipulation tasks
- trajectory planning
- mobile robotics
- humanoid robot
- path planning
- grand challenge
- robot control
- robot arm
- robotic systems
- control system
- kinematic model
- multi robot
- industrial robots
- configuration space
- control law
- autonomous robots
- computer vision
- autonomous mobile robot
- climbing robot
- motion control
- obstacle avoidance
- viewpoint
- motor control
- belief space
- process control
- human body