Inverse Kinematics-based Motion Planning for Underactuated Systems.
Prasun ChoudhuryBenjamin J. StephensKevin M. LynchPublished in: ICRA (2004)
Keyphrases
- motion planning
- inverse kinematics
- mechanical systems
- robot arm
- degrees of freedom
- mobile robot
- path planning
- humanoid robot
- end effector
- trajectory planning
- robotic tasks
- control law
- robotic arm
- multi robot
- obstacle avoidance
- configuration space
- position and orientation
- robot manipulators
- viewpoint
- climbing robot
- collision free
- fuzzy logic