Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics.
Tim-Lukas HabichMelvin HueterMoritz SchapplerSvenja SpindeldreierPublished in: ICRA (2023)
Keyphrases
- inverse kinematics
- mobile robot
- robotic systems
- motion planning
- robot control
- legged robots
- quadruped robot
- robot arm
- robot manipulators
- multi robot
- position and orientation
- active contours
- autonomous robots
- affine transformation
- humanoid robot
- degrees of freedom
- real robot
- end effector
- b spline
- path planning
- rough terrain
- joint angles
- dynamic environments
- vision system
- neural network
- experimental data
- input output
- viewpoint