Whole-body motion planning for humanoid robots with heuristic search.
Ali AtharAbdul Moeed ZafarRizwan AsifArmaghan Ahmad KhanFahad IslamYasar AyazOsman HasanPublished in: IROS (2016)
Keyphrases
- heuristic search
- humanoid robot
- motion planning
- search algorithm
- biologically inspired
- robot arm
- state space
- multi modal
- trajectory planning
- search space
- inverse kinematics
- planning problems
- robotic arm
- path finding
- human robot interaction
- heuristic search algorithms
- automated planning
- robotic tasks
- belief space
- ai planning
- search problems
- collision free
- bidirectional search
- pattern databases
- configuration space
- admissible heuristics
- human motion
- manipulation tasks
- climbing robot
- optimal planning
- heuristic function
- viewpoint