Motion planning for a three-stage multilumen transoral lung access system.
Alan KuntzLuis G. TorresRichard H. FeinsRobert J. Webster IIIRon AlterovitzPublished in: IROS (2015)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- trajectory planning
- path planning
- robot arm
- humanoid robot
- multi robot
- configuration space
- robotic arm
- robotic tasks
- autonomous mobile robot
- manipulation tasks
- obstacle avoidance
- inverse kinematics
- collision free
- belief space
- machine learning
- ct images
- potential field
- mechanical systems
- lung cancer