CAT-RRT: Motion Planning that Admits Contact One Link at a Time.
Nataliya NechyporenkoCaleb EscobedoShreyas KadekodiAlessandro RonconePublished in: CoRR (2023)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- path planning
- robot arm
- trajectory planning
- humanoid robot
- robotic tasks
- inverse kinematics
- robotic arm
- multi robot
- obstacle avoidance
- autonomous mobile robot
- control law
- mechanical systems
- belief space
- manipulation tasks
- configuration space
- pose estimation
- collision free
- video sequences
- human computer interaction
- multi modal
- kinematic model
- d objects
- climbing robot