Dynamic model and motion planning for a pendulum-actuated spherical rolling robot.
Mikhail M. SvininYang BaiMotoji YamamotoPublished in: ICRA (2015)
Keyphrases
- dynamic model
- motion planning
- control scheme
- control law
- mobile robot
- humanoid robot
- robot arm
- trajectory planning
- robot manipulators
- path planning
- trajectory tracking
- experimental data
- autonomous mobile robot
- degrees of freedom
- inverse kinematics
- obstacle avoidance
- multi robot
- robotic arm
- robotic tasks
- collision free
- configuration space
- visual servoing
- nonlinear systems
- manipulation tasks
- parallel manipulator
- mechanical systems
- mathematical model
- climbing robot
- inverted pendulum
- three dimensional
- end effector
- adaptive control
- potential field
- real robot
- neural model
- robot navigation
- multi modal
- viewpoint
- real time