Task-Dependent Synergies for Motion Planning of an Anthropomorphic Dual-Arm System.
Néstor GarcíaRaúl SuárezJan RosellPublished in: IEEE Trans. Robotics (2017)
Keyphrases
- motion planning
- robot arm
- robotic arm
- degrees of freedom
- mobile robot
- humanoid robot
- path planning
- trajectory planning
- inverse kinematics
- joint angles
- control law
- robotic tasks
- end effector
- mechanical systems
- multi robot
- autonomous mobile robot
- obstacle avoidance
- belief space
- kinematic model
- collision free
- configuration space
- manipulation tasks
- computer vision
- nearest neighbor searching