Locomotion generation for a mobile manipulator by global minimization of the weighted generalized momentum
This article presents a method for generating the locomotion of a mobile manipulator that globally minimizes the weighted generalized momentum. The method utilizes the calculus of variation setting to address the problem for which the optimal trajectory may be computed by solving the initial value p...
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2020-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881420930936 |