Sample-based motion planning for robot manipulators with closed kinematic chains.
Manuel BonillaEdoardo FarnioliLucia PallottinoAntonio BicchiPublished in: ICRA (2015)
Keyphrases
- inverse kinematics
- robot manipulators
- motion planning
- trajectory planning
- end effector
- degrees of freedom
- robot arm
- robotic arm
- kinematic model
- mobile robot
- configuration space
- control scheme
- path planning
- dynamic model
- humanoid robot
- joint angles
- sliding mode
- mechanical systems
- multi robot
- robotic tasks
- climbing robot
- position and orientation
- fuzzy neural network
- closed loop
- multi modal