Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation.
César Fernández PerisÓscar ReinosoMaria Asunción VicenteRafael AracilPublished in: ICRA (2005)
Keyphrases
- configuration space
- mobile robot
- inverse kinematics
- parallel robot
- robot manipulators
- image representation
- real time
- degrees of freedom
- end effector
- goal directed
- obstacle avoidance
- robot arm
- redundancy reduction
- functional decomposition
- joint space
- human robot
- robot control
- autonomous robots
- motion planning
- humanoid robot
- multi robot
- information content
- tabu search
- vision system
- face recognition