RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
IEEE Transactions on Automation Science and Engineering(2021)
摘要
Generating robot motion for multiple tasks in dynamic environments is challenging, requiring an algorithm to respond reactively while accounting for complex nonlinear relationships between tasks. In this article, we develop a novel policy synthesis algorithm, Riemannian motion policy (RMP)flow, based on geometrically consistent transformations of RMPs. RMPs are a class of reactive motion policies ...
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关键词
Robots,Task analysis,Aerospace electronics,Robot kinematics,Geometry,Collision avoidance,Planning
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