Motion Planning and Inertia-Based Control for Impact Aware Manipulation.
Harshit KhuranaAude BillardPublished in: IEEE Trans. Robotics (2024)
Keyphrases
- motion planning
- robotic arm
- mechanical systems
- degrees of freedom
- manipulation tasks
- humanoid robot
- mobile robot
- path planning
- joint space
- trajectory planning
- configuration space
- robot arm
- robotic tasks
- control system
- autonomous mobile robot
- kinematic model
- collision free
- control law
- visual servoing
- inverse kinematics
- control method
- multi robot
- motion control
- robot control
- obstacle avoidance
- potential field
- closed loop
- nearest neighbor searching
- climbing robot