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Trajectory planning and control of an underactuated dynamically stable single spherical wheeled mobile robot.
Umashankar Nagarajan
George Kantor
Ralph L. Hollis
Published in:
ICRA (2009)
Keyphrases
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trajectory planning
motion planning
wheeled mobile robot
mechanical systems
robot manipulators
control system
control algorithm
receding horizon
damage assessment
obstacle avoidance
degrees of freedom
humanoid robot
control strategy
mobile robot
control method
path planning
evolutionary algorithm