Motion planning of continuum tubular robots based on centerlines extracted from statistical atlas.
Keyu WuLiao WuHongliang RenPublished in: IROS (2015)
Keyphrases
- motion planning
- mobile robot
- multi robot
- humanoid robot
- manipulation tasks
- collision free
- path planning
- degrees of freedom
- trajectory planning
- robot arm
- autonomous mobile robot
- robotic tasks
- tubular structures
- robotic arm
- belief space
- obstacle avoidance
- real robot
- control law
- robotic systems
- potential field
- inverse kinematics
- multi modal
- human body
- dynamic environments
- human robot interaction
- robot control
- configuration space
- feature extraction