Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control.
Xiaobin XiongAaron D. AmesPublished in: CoRR (2020)
Keyphrases
- motion planning
- humanoid robot
- kinematic model
- robotic arm
- mechanical systems
- belief space
- path planning
- degrees of freedom
- mobile robot
- configuration space
- robot arm
- trajectory planning
- autonomous robots
- robotic tasks
- autonomous mobile robot
- control law
- obstacle avoidance
- inverse kinematics
- end effector
- manipulation tasks
- robotic systems
- multi modal
- human robot interaction
- robot manipulators
- learning rate
- control method
- control system
- potential field