Energy-optimal motion planning of a biped pole-climbing robot with kinodynamic constraints.
Xuefeng ZhouLi JiangYisheng GuanHaifei ZhuDan HuangTaobo ChengHong ZhangPublished in: Ind. Robot (2018)
Keyphrases
- motion planning
- climbing robot
- humanoid robot
- control law
- degrees of freedom
- mobile robot
- path planning
- trajectory planning
- robot arm
- autonomous mobile robot
- multi robot
- collision free
- robotic tasks
- dynamic programming
- robotic arm
- inverse kinematics
- inverted pendulum
- optimal solution
- control system
- obstacle avoidance
- mechanical systems
- multi modal
- optimal control
- visual servoing
- nonlinear systems
- biologically inspired
- energy consumption