Feedback motion planning of legged robots by composing orbital Lyapunov functions using rapidly-exploring random trees.
Ali ZamaniJoseph D. GallowayPranav A. BhounsulePublished in: ICRA (2019)
Keyphrases
- motion planning
- control law
- legged robots
- mobile robot
- degrees of freedom
- path planning
- trajectory planning
- robot arm
- humanoid robot
- robotic tasks
- robotic arm
- inverse kinematics
- dynamical systems
- inverted pendulum
- dynamic environments
- nonlinear systems
- real time
- sufficient conditions
- multi robot
- neural network
- control scheme
- adaptive control
- collision avoidance
- reinforcement learning
- collision free
- dynamic programming
- visual servoing
- autonomous robots
- human body
- experimental data