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Full-body motion planning and control for the car egress task of the DARPA robotics challenge.
Chenggang Liu
Christopher G. Atkeson
Siyuan Feng
X. Xinjilefu
Published in:
Humanoids (2015)
Keyphrases
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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