Premium
Motion Planning of Robot Locomotion
Author(s) -
Mladenova C.
Publication year - 2003
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200310057
Subject(s) - motion (physics) , base (topology) , robot , computer science , differential (mechanical device) , motion planning , simulation , control theory (sociology) , artificial intelligence , engineering , control (management) , mathematics , aerospace engineering , mathematical analysis
Since the treatment of robot locomotion is quite closed with this one of human locomotion, the present paper treats the problems of modelling, simulation and motion planning of robot locomotion on the base of knowledge of the skeletal system, as well as on the base of multibody system modelling, simulation and control using some ideas from Lie group theory and differential geometry.