A Motion Planning Strategy for a Spherical Rolling Robot Driven by Two Internal Rotors.
Akihiro MorinagaMikhail M. SvininMotoji YamamotoPublished in: IEEE Trans. Robotics (2014)
Keyphrases
- motion planning
- humanoid robot
- mobile robot
- trajectory planning
- robot arm
- path planning
- degrees of freedom
- autonomous mobile robot
- robotic arm
- multi robot
- robotic tasks
- obstacle avoidance
- manipulation tasks
- inverse kinematics
- collision free
- control law
- configuration space
- end effector
- belief space
- potential field
- mechanical systems
- rough terrain
- climbing robot
- robot manipulators
- biologically inspired
- human robot interaction
- autonomous robots
- kinematic model
- multi modal
- unknown environments
- real robot
- dynamic environments
- high resolution
- reinforcement learning