Title :
Stratified motion planning on nonsmooth domains with robotic applications
Author :
Wei, Yejun ; Goodwine, Bill
Author_Institution :
Dept. of Aerosp. & Mech. Eng., Univ. of Notre Dame, IN, USA
Abstract :
This paper presents an extension of stratified motion planning results to the case where the base manifold upon which the motion planning occurs is not smooth. Robotic applications of this work include motion planning for legged robots over known, nonsmooth terrain and manipulation of nonsmooth objects with multiple robotic manipulators.
Keywords :
legged locomotion; manipulator kinematics; multi-robot systems; path planning; control strategy; kinematic systems; legged locomotion; multiple bottom strata; multiple robotic manipulation; nonsmooth domains; stratified motion planning; Algorithm design and analysis; Equations; Fingers; Legged locomotion; Manipulator dynamics; Morphology; Motion analysis; Motion planning; Orbital robotics; Robots;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2003.820874
