Nonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints.
Naoji ShiromaHirohiko AraiKazuo TaniePublished in: Int. J. Robotics Res. (2002)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- robot arm
- path planning
- mobile robot
- robotic tasks
- kinematic constraints
- humanoid robot
- three dimensional
- pose estimation
- control law
- autonomous mobile robot
- human body
- mechanical systems
- potential field
- robotic arm
- multi robot
- obstacle avoidance
- inverse kinematics
- configuration space
- joint angles
- end effector
- articulated objects
- computer vision
- collision free
- real time
- kinematic model
- spatio temporal